Integrating Collision Avoidance, Lane Keeping, and Cruise Control With an Optimal Controller and Fuzzy Controller

This thesis presents collision avoidance integrated with lane keeping and adaptive cruise control for a car. Collision avoidance is the ability to avoid obstacles that are in the vehicle's path, without causing damage to the obstacle or car. There are three types of collision avoidance controllers, passive, active, and semi-active. This thesis is designed using active collision avoidance controllers. There are two controllers developed for collision avoidance in this paper. They are an optimal controller and a fuzzy controller. The optimal vehicle trajectory, which maximizes the distance to an obstacle and changes lanes, is derived. The optimal collision avoidance controller is a closed loop controller; with the decisions based on the current state. The fuzzy controller makes decisions based on the system rules. A simulation environment was created to compare these two controllers as viable solutions for collision avoidance. The environment uses MATLAB/Simulink for simulation of the vehicle as well as the optimal and fuzzy controllers. The simulation incorporates system blocks of the kinematics of a car, navigation, states, control law, and velocity controller. Once the controllers are fully developed and tested in the simulation environment, they are implemented and tested on the platform vehicle. This verifies the real world performance of the controllers. The platform vehicle is a modified radio controlled car. This car is completely autonomous. The car has onboard sensors that allow it to follow a white piece of tape as well as detect obstacles.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2005

Author dc:creator

• Grefe, William Kevin

Chair dc:contributor.committeechair

• Kachroo, Pushkin

Committee members dc:contributor.committeemember

• Stilwell, Daniel J.
• Ramu, Krishnan

• Collision Avoidance
• Fuzzy Control
• Optimal control
• Smart Vehicles
• Autonomous

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

etd-05032005-150456

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/32142