A. Ghaffari
A. Khodayari
B. Gharehpapagh
S. Salehinia

In this paper a control system has been designed to improve traffic conditions in car following maneuver. There are different methods to design a control system. In this paper design approach is based on the Fuzzy sliding mode control (FSMC) system. The aim of designing FSMC system is to achieve safe and desire longitudinal distance and less lateral displacement. In order to control and obtain desired longitudinal and lateral movements, suitable values of composite torque and steering angle is generated. At first to design of FSMC system, a nonlinear dynamics model of vehicle with three degrees of freedom is presented and validated with real traffic data. Then, the performance of the FSMC system has been evaluated by real car following data. At the end, the simulation results of FSMC are compared with the first and second order sliding mode control. Simulation result shows that performance of FSMC is better than sliding mode control. Also by comparing between FSMC and real driver, it is shown that FSMC is much safer than a real human driver in keeping the longitudinal distance and also the FSMC produces less lateral displacement in the lateral movement too.