M. Yaghoubi - M. Yaghoubi is with the Department of Electrical Engineering, Amirkabir University of Technology, Hafez Ave.Tehran-Iran (Author phone Number:(+
A. Afshar - Department of Electrical Engineering, Amirkabir University of Technology, Hafez Ave.Tehran-Iran

The automation of the overtaking manoeuver is considered to be one of thetoughest challenges in the development of autonomous vehicles. This operationconsists of two lane changes—one from the right to the left lane of the road, andthe other is to return to the right lane after passing. This paper studies theproblem of automatic lateral control of highway vehicles that move inside apartially unknown environment, under the assumption of parametric uncertaintyin the model that describes the motion of vehicles. To improve such problem, afuzzy logic controller (FLC) is applied to implement an efficient and accuratepositioning of Vehicles in Automated highway system (AHS). The simulationresults show that the control method can control the lateral motion of a vehiclemore effectively and have a good performance.

Fuzzy logic controller, lateral control, robust design