Estimacíon de un control lateral difuso de veh́ículos

Autonomous driving is one of the most interesting topics inside the area of the Intelligent Transportation Systems (ITS); the automatic control of the steering wheel is one of the most important challenges which researches face in this area. This work presents an adjustment based on genetic algorithms of fuzzy controllers capable of handling automatically the steering wheel of a conventional vehicle, reproducing attitudes of a human driver in different situations. To do that, the state of the car has been monitored while it is led by a human being and by means of genetic algorithms there has been obtained a fuzzy controller suitable for the managing of the steering wheel of the vehicle. All bearing two basic requirements in mind: the controller must be capable of handling the vehicle across a predefined route and of executing soft control actions to provide a comfortable conduction for the vehicle's occupants.