Fuzzy logic steering control of autonomous vehicles inside roundabouts
This paper shows a real experiment with autonomous vehicles in urban roundabouts. A parametric curve generation in used in the path planning, which in divided in three stages: entrance, inside and exit of the roundabout. Lane changes experiments show that the controller proposed (based on fuzzy logic) is stable. The range of speed used in the experiment is between 8km/h and 24km/h. The system was designed for 20km/h max. The real situation experiments show that our proposal is valid for urban scenarios.
fuzzy logic steer control autonomous vehicles roundabouts soft computing intelligent control