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Real-time implementable intelligent trajectory controller design for a light commercial vehicle
(Elsevier B.V., 2023) Mohamed, Y.; Gol, M.; Kabbani, T.; Ghazali, M.; Demir, A.; Sangani, A.S.A.; Rodoplu, K.
Light Commercial Vehicles (LCVs) are widely used for last-mile delivery of goods to manufacturers and consumers due to their ease of manoeuvrability, better mileage, and lower operating costs. They account for over 80% of total commercial vehicle sales in the European Union. Therefore, automation of LCVs has a significant socio-economic impact. A fuzzy trajectory controller with a minimum number of rules is designed for a hypothetical Level 3 autonomous vehicle (L3AV) and tested in a narrow road scenario. The analysis of the simulations showed that the maximum tracking error in the angular position was 4.1° at 4 m/s, 6.3° at 6 m/s, and 6.7° at 8 m/s, while the maximum lateral error was 0.1 m in all scenarios. The results have shown that the proposed controller achieves acceptable performance at different speeds with a minimum number of rules, leading to real-time implementation. © 2023 The Authors. Published by ELSEVIER B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0)