C.: Cascade architecture for lateral control in autonomous vehicle

Abstract—Research on intelligent transport systems (ITSs) is steadily leading to safer and more comfortable control for vehi-cles. Systems that permit longitudinal control have already been implemented in commercial vehicles, acting on throttle and brake. Nevertheless, lateral control applications are less common in the market. Since a too-sudden turn of the steering wheel can cause an accident in a few seconds, good speed and position control of the steering wheel is essential. We present here a new cascade control architecture based on fuzzy logic controllers that emulate a human driver’s behavior. The control architecture was tested on a real vehicle at different vehicle speeds. The results showed the use of a straightforward and intuitive fuzzy controller to give good performance. Index Terms—Autonomous vehicles, fuzzy logic, intelligent transportation systems (ITSs), lateral control, system analysis and design. I