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Autonomous Vehicles
Fuzzy Logic
Presentation of paper: R. Kala, K. Warwick (2015). Reactive
Planning of Autonomous Vehicles for Traffic Scenarios. Electronics
4, 739-762
School of Systems, Engineering, University of
April, 2013
Rahul
Kala
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Key Contributions
Design of a Fuzzy Inference System for the
problem.
Design of a decision making module for
deciding the feasibility of overtaking purely
based on the vehicle distances and speeds.
Design of an evolutionary technique for
optimization of such a fuzzy system.
Using the designed fuzzy system enabling
vehicles to travel through a crossing by
introducing a virtual barricade.
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Inputs
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Some Inputs
Left Distances
Right Distances
Obstacle
i
i
Obstacle
Front Distances
Deviation = i i
Minimal of twin distance inputs is
taken
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Overtaking
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Cooperation
Whether (3) needs to steer in a particular
direction to enable overtake?
Cooperation required in case the vehicles need
to align to fit within road width (condition 1)
(3) moves opposite to the location of (1) and (2)
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Vehicle Following
In case of infeasibility, the vehicle would follow
the vehicle in front
If any oncoming vehicle/any other vehicle
causing overtake infeasibility passes, overtake
initiates
Vehicle can drive in the wrong side and does
not consider the vehicle in front (both inputs
disabled)
When (2) is ahead of (1), the inputs are enabled
again
Motion Planning for Multiple Autonomous Vehicles
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Crossing
Add virtual barricade as boundaries on road not
used in navigation
Make the vehicle go by designed fuzzy planned
overtaking disabled
In absence of traffic lights first come first serve
sequence followed
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Crossing
Left Boundary
Barricades
Right Boundary
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Return F
Map
F Tune Rules (F)
Fitness Evaluation
F Tune Membership
Function Parameters (F)
Simulation
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Results Vehicle
Avoidance
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Results - Crossing
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Analysis
10
9
8
7
6
Speed
Left Turn 1
Left Turn 2
Right Turn 1
Right Turn 2
Straight
Left Turn with Obstacle
5
4
3
2
1
0
Time
10
9
8
7
6
5
Speed 4
3
2
1
0
Left Turn 1
Left Turn 2
Right Turn 1
Right Turn 2
Straight
Time
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Analysis
10
9
8
7
6
Speed
5
With Overtake
Without Overtake
4
3
2
1
0
Time
Overtaking scenarios
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Left Turn
Right Turn
Straight
Left Turn with Obstacle
0
-10
-20
-30
30
Time
20
10
Angle
Left Turn
Right Turn
Straight
-10
-20
-30
Time
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With Overtake
Without Overtake
-10
-20
-30
Time
Overtaking scenarios
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Acknowledgements:
Commonwealth Scholarship
Commission in the United Kingdom
British Council
Thank You
Motion Planning for Multiple Autonomous Vehicles
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