E-ISSN 2705-3954 | ISSN 0794-4756
 

Original Research 


Application of Fuzzy Control System to Autonomous Vehicle Platoon

Ore-ofe Ajayi, Sani Man- Yahaya, Abubakar Umar.

Abstract
This work aims to explore a simplified approach using the Fuzzy logic control system to control homogeneous vehicle platoon to achieve velocity and string stability while keeping a constant inter-vehicular gap. String stability can be affected by unknown uncertainties such as truck incapacitation, delay of platoons and inability to maintain a constant inter-vehicular gap. This paper addresses the problem of string stability, that is inability of vehicles to maintain a constant inter-vehicular gap. To address this problem, a Fuzzy Logic Cooperative Adaptive Cruise Control scheme was developed to ensure string stability, reduced catchup time and robust enough to implement different maneuvers such as catch-up strategy, slow-down strategy, and lane-change. A triangular membership function was used for Distance, Velocity and Acceleration. A three-vehicle platoon setup was developed using Fuzzy Logic controller for lead vehicle and two follower vehicles. The lead vehicle is controlled by 5 rules with velocity as input and acceleration output. While the follower vehicles were governed by 2-inputs (distance and velocity) and acceleration as output, having a total of 25 fuzzy rules as captured in the rule matrix lookup table. The platoon system shows a good string stability margin of less than 5 seconds and inter-vehicular distance gap stability of about 2 seconds maximum. The results obtained shows the effectiveness of the developed controller in terms of time taken to attain string stability. The approach developed increases platoon stability at a faster time. The design, development and evaluation are carried out using MATLAB modeling environment

Key words: Cooperative Adaptive Cruise Control; Fuzzy; String Stability; Vehicle Platoon.


 
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How to Cite this Article
Pubmed Style

Ajayi O, Yahaya SM, Umar A. Application of Fuzzy Control System to Autonomous Vehicle Platoon. NJE. 2022; 29(2): 66-71.


Web Style

Ajayi O, Yahaya SM, Umar A. Application of Fuzzy Control System to Autonomous Vehicle Platoon. https://www.njeabu.com.ng/?mno=100100 [Access: November 02, 2022].


AMA (American Medical Association) Style

Ajayi O, Yahaya SM, Umar A. Application of Fuzzy Control System to Autonomous Vehicle Platoon. NJE. 2022; 29(2): 66-71.



Vancouver/ICMJE Style

Ajayi O, Yahaya SM, Umar A. Application of Fuzzy Control System to Autonomous Vehicle Platoon. NJE. (2022), [cited November 02, 2022]; 29(2): 66-71.



Harvard Style

Ajayi, O., Yahaya, . S. M. & Umar, . A. (2022) Application of Fuzzy Control System to Autonomous Vehicle Platoon. NJE, 29 (2), 66-71.



Turabian Style

Ajayi, Ore-ofe, Sani Man- Yahaya, and Abubakar Umar. 2022. Application of Fuzzy Control System to Autonomous Vehicle Platoon. Nigerian Journal of Engineering, 29 (2), 66-71.



Chicago Style

Ajayi, Ore-ofe, Sani Man- Yahaya, and Abubakar Umar. "Application of Fuzzy Control System to Autonomous Vehicle Platoon." Nigerian Journal of Engineering 29 (2022), 66-71.



MLA (The Modern Language Association) Style

Ajayi, Ore-ofe, Sani Man- Yahaya, and Abubakar Umar. "Application of Fuzzy Control System to Autonomous Vehicle Platoon." Nigerian Journal of Engineering 29.2 (2022), 66-71. Print.



APA (American Psychological Association) Style

Ajayi, O., Yahaya, . S. M. & Umar, . A. (2022) Application of Fuzzy Control System to Autonomous Vehicle Platoon. Nigerian Journal of Engineering, 29 (2), 66-71.