Perception model for trajectory following autonomous and human augmented steering control
A steering control method including the steps of obtaining a heading error, obtaining a velocity value, obtaining a distance error, applying the heading error and defuzzifying an output from a steering rule base. The velocity value and the distance error are applied along with the heading error to fuzzy logic membership functions to produce an output that is applied to a steering rule base. An output from the steering rule base is defuzzified to produce a steering signal.
1. A vehicle, comprising:
a steering system;
a steering control system operatively connected to said steering system;
a steering angle sensor producing a steering angle signal; and
a reference system producing a heading signal and a distance signal, said steering control system applying said steering angle signal, said heading signal and said distance signal to fuzzy logic membership functions to produce an output that is applied to a steering rule base, said steering rule base producing an output that is defuzzified to produce a steering signal that is supplied to said steering control system to control said steering system, wherein a path is established which serves as a reference for determining said distance signal and said heading signal.
2. The vehicle of claim 1 , wherein at least one of an orientation, a location and a velocity of the vehicle is input to said reference system to obtain said heading signal and said distance signal.