Abstract
Under urban environments, vehicle lateral control faces new challenges, such as autonomous driving not only with a small steering angle of front wheel but also with a large one, which has rarely been reported in previous papers. In this paper, an Expert Fuzzy Controller (EFC) with the strategy of two look-ahead points is proposed to gain good control performance in all driving tasks. At the end of the paper, simulation and experiment results are presented to show that the proposed expert fuzzy strategy is accurate and effective for the normal lateral control problem under urban environments.
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