Integrated Fuzzy Sliding Mode Control System Design for Driving Behavior inReal Traffic Flow

Due to extensive use of vehicle in daily life, a considerable attention has been paid to traffic congestion, safety issues and reducing driving tension from scientific and industrial communities. To achieve these goals, various vehicle control systems have been designed. In this paper, an Integrated Control System (ICS) based on fuzzy sliding model control has been designed in order to obtain suitable composite torque and steering angel in car following and lane changing situation. The aim of designing of this control system is to obtain an ICS that maintain safe distance in longitudinal and lateral movement of the vehicle with its leader vehicle. This control system has both advantages of sliding mode and fuzzy logic methods. Also, nonlinear dynamics model with three degrees of freedom has been used to define sliding surfaces in sliding mode control method. Finally, real driver traffic data has been used to evaluate system performance. The simulation results shows that the designed ICS has a behavior much safer than that of real drivers and the effectiveness of the fuzzy sliding mode control in both car following and lane changing maneuvers.

کلیدواژه ها:

Intelligent transportation systems ، car following and lane changing maneuver ، fuzzy sliding mode control