An ANFIS controller for vision-based lateral vehicle control system

This paper presents a controller based on an adaptive network fuzzy inference system (ANFIS) for vision-based lateral vehicle control system. The lateral error and relative yaw angle between vehicle longitudinal road tangent directions at certain look-ahead distance are assumed to be measured by vision system and applied to the controller. The fuzzy controller is implemented with ANFIS architecture, which can formalize a systematic approach to generate the fuzzy rule and membership function. Simulation results show that the proposed controller for vision-based vehicle lateral control system is able to make the lateral error and yaw error within the acceptance level.