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Published in:
06-11-2014
Evaluation of Fuzzy Inference-based Self-tuning of Steering Control Gains for Heavy-duty Trucks
Published in: International Journal of Intelligent Transportation Systems Research | Issue 2/2016
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Abstract
As the number of automobiles in worldwide increases, the number of associated serious environmental and safety problems also increases. A solution to these problems is an autonomous platooning system for trucks, which is expected to have various effects such as reduction in carbon dioxide emissions and increase in traffic capacity. Although various control laws have been proposed for automated driving, control gains are typically tuned manually. The optimal values change owing to the freight or over a period of several years. Therefore, when the control performance decreases, gain tuning is again required. In this study, as additional evaluations of the proposed self-tuning method, we newly examine if the method can adjust gain to the change of a freight weight by simulation and evaluate the convergence property of the method experimentally.