Application of Fuzzy Control on Smart Car Servo Steering System

摘要

The smart car is a system which integrates multiple functions such as environment awareness, planning decision and automatic drive. In order to improve the smart car performance in tracking and moving, the servo steering of smart car system based on FUZZY controller is designed which is researched from control strategy and control algorithm. Firstly, subjection functions and control rules are designed. Secondly, through fuzzy inference and defuzzification, we get the output control action domain of discourse. Finally, the hardware system, where the algorithm is applied in, is designed based on HCS12 MCU. The algorithms have fast response, small overshoot, and strong robustness. Whereafter, the reliability of this system is tested, which proved that the control algorithm can imitate the driving behavior of human to control the smart car to track the path accurately and rapidly.