A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 11.8, Top 4% (SCI Q1)
    CiteScore: 17.6, Top 3% (Q1)
    Google Scholar h5-index: 77, TOP 5
Turn off MathJax
Article Contents
Xuanming Zhao, Hong Mo, Kefu Yan and Lingxi Li, "Type-2 Fuzzy Control for Driving State and Behavioral Decisions of Unmanned Vehicle," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 178-186, Jan. 2020. doi: 10.1109/JAS.2019.1911810
Citation: Xuanming Zhao, Hong Mo, Kefu Yan and Lingxi Li, "Type-2 Fuzzy Control for Driving State and Behavioral Decisions of Unmanned Vehicle," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 178-186, Jan. 2020. doi: 10.1109/JAS.2019.1911810

Type-2 Fuzzy Control for Driving State and Behavioral Decisions of Unmanned Vehicle

doi: 10.1109/JAS.2019.1911810
Funds:  This work was supported by the National Natural Science Foundation of China (61473048, 61074093)
More Information
  • In this paper, interval type-2 fuzzy sets, fuzzy comprehensive evaluation and the fuzzy control rules are synthesized to realize the control of unmanned vehicle in driving state and behavioral decisions. Compared to the type-1 fuzzy set, type-2 fuzzy sets have more advantages in handling the model based on uncertainties, linguistic information because the membership functions are fuzzy sets. Different membership functions are established for each factor when the unmanned vehicle is driving at different speed intervals. In addition, a new evaluation method is developed to analyze unmanned vehicle’s driving state. Finally, a set of dynamic fuzzy rules are sorted out, which can be applied to the unmanned vehicle’s behavioral decision-making and provide a new idea to related research.


  • loading
  • [1]
    F.-Y. Wang, " Parallel control and management for intelligent transportation systems: concepts, architectures, and applications,” IEEE Trans. Intell. Transp. Syst., vol. 11, no. 3, pp. 630–638, Sep. 2010. doi: 10.1109/TITS.2010.2060218
    F. H. Zhu, Z. J. Li, S. H. Chen, and G. Xiong, " Parallel transportation management and control system and its applications in building smart cities,” IEEE Trans. Intell. Transp. Syst., vol. 17, no. 6, pp. 1576–1585, Jun. 2016. doi: 10.1109/TITS.2015.2506156
    F.-Y. Wang, N. N. Zheng, D. P. Cao, C. M. Martinez, L. Li, and T. Liu, " Parallel driving in CPSS: a unified approach for transport automation and vehicle intelligence,” IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 577–587, Sep. 2017. doi: 10.1109/JAS.2017.7510598
    T. X. Bai, S. Wang, Z. Shen, D. P. Cao, N. N. Zheng, and F.-Y. Wang, " Parallel robotics and parallel unmanned systems: framework, structure, process, platform and applications,” Acta Autom. Sinica, vol. 43, no. 2, pp. 161–175, Feb. 2017.
    H. Wang, Y. J. Huang, A. Khajepour, Y. Rasekhipour, Y. B. Zhang, and D. P. Cao, " Crash mitigation in motion planning for autonomous vehicles,” IEEE Trans. Intell. Transp. Syst., pp. 1–11, Jan. 2019.
    L. Chen, X. M. Hu, W. Tian, H. Wang, D. P. Cao, and F.-Y. Wang, " Parallel planning: a new motion planning framework for autonomous driving,” IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 236–246, Jan. 2019. doi: 10.1109/JAS.2018.7511186
    K. T. Leung, J. F. Whidborne, D. Purdy, and A. Dunoyer, " A review of ground vehicle dynamic state estimations utilising GPS/INS,” Veh. Syst. Dyn., vol. 49, no. 1–2, pp. 29–58, Jan. 2011. doi: 10.1080/00423110903406649
    A. Katriniok and D. Abel, " Adaptive EKF-based vehicle state estimation with online assessment of local observability,” IEEE Trans. Control Syst. Technol., vol. 24, no. 4, pp. 1368–1381, Jul. 2016. doi: 10.1109/TCST.2015.2488597
    G. Baffet, A. Charara, D. Lechner, and D. Thomas, " Experimental evaluation of observers for tire-road forces, sideslip angle and wheel cornering stiffness,” Veh. Syst. Dyn., vol. 46, no. 6, pp. 501–520, Jun. 2008. doi: 10.1080/00423110701493963
    R. Anderson and D. M. Bevly, " Using GPS with a modelbased estimator to estimate critical vehicle states,” Veh. Syst. Dyn., vol. 48, no. 12, pp. 1413–1438, Dec. 2010. doi: 10.1080/00423110903461347
    E. Hashemia, S. Khosravani, A. Khajepour, A. Kasaiezadeh, S. K. Chen, and B. Litkouhi, " Longitudinal vehicle state estimation using nonlinear and parametervarying observers,” Mechatronics, vol. 43, pp. 28–39, May 2017. doi: 10.1016/j.mechatronics.2017.02.004
    H. Y. Guo, D. P. Cao, H. Chen, C. Lv, H. J. Wang, and S. Q. Yang, " Vehicle dynamic state estimation: state of the art schemes and perspectives,” IEEE/CAA J. Autom. Sinica, vol. 5, no. 2, pp. 418–431, Feb. 2018. doi: 10.1109/JAS.2017.7510811
    L. Y. Hsu and T. L. Chen, " Vehicle full-state estimation and prediction system using state observers,” IEEE Trans. Vehicular Technology, vol. 58, no. 6, pp. 2651–2662, Oct. 2008.
    J. B. Li, X. L. Liang, and W. Q. Yue, " The vehicle dynamic parameters recognition of in-wheel motor driven electric vehicle,” Veh. Syst. Dyn., vol. 15, pp. 443–447, Dec. 2011.
    H. Mo and T. Wang, " Computing with words in generalized interval type-2 fuzzy sets,” Acta Autom. Sinica, vol. 38, no. 5, pp. 707–715, May 2012. doi: 10.3724/SP.J.1004.2012.00707
    H. Mo and F. Y. Wang, " Linguistic Dynamic Systems and Type-2 Fuzzy logic,” Beijing: China Science and Technology Press, 2013.
    H. Mo, F.-Y. Wang, M. Zhou, R. M. Li, and Z. Q. Xiao, " Footprint of Uncertainty for type-2 fuzzy sets,” Information Sciences, vol. 272, pp. 96–110, Jul. 2014. doi: 10.1016/j.ins.2014.02.092
    H. Mo, K. F. Yan, X. M. Zhao, Y. Q. Zeng, X. Wang, and F.-Y. Wang, " Type-2 fuzzy comprehension evaluation for tourist attractive competency,” IEEE Trans. Computational Social Systems, vol. 6, no. 1, pp. 96–102, Feb. 2019. doi: 10.1109/TCSS.2019.2891306
    L. A. Zadeh, " Fuzzy logic = computing with words,” IEEE Trans. Fuzzy Systems, vol. 4, no. 2, pp. 103–111, May 1996.
    R. M. Li, C. Y. Jiang, F. H. Zhu, and X. L. Chen, " Traffic flow data forecasting based on interval type-2 fuzzy sets theory,” IEEE/CAA J. Autom. Sinica, vol. 3, no. 2, pp. 141–148, Apr. 2016. doi: 10.1109/JAS.2016.7451101
    H. Mo, J. Wang, X. Li, and Z. L. Wu, " Linguistic dynamic modeling and analysis of psychological health state using interval type-2 fuzzy sets,” IEEE/CAA J. Autom. Sinica, vol. 2, no. 4, pp. 366–373, Oct. 2015. doi: 10.1109/JAS.2015.7296531
    X. G. Lu, M. Liu, and J. X. Liu, " Design and optimization of interval type-2 fuzzy logic controller for delta parallel robot trajectory control,” Int. J. Fuzzy Systems, vol. 19, no. 1, pp. 190–206, Feb. 2017. doi: 10.1007/s40815-015-0131-3
    J. M. Garibaldi, " The need for fuzzy AI,” IEEE/CAA J. Autom Sinica, vol. 6, no. 3, pp. 610–622, May 2019. doi: 10.1109/JAS.2019.1911465
    H. Mo, " Linguistic dynamic orbits in the time varying universe of discourse,” Acta Autom. Sinica, vol. 38, no. 10, pp. 1585–1594, Oct. 2012. doi: 10.3724/SP.J.1004.2012.01585
    J. M. Mendel, " Uncertainty, fuzzy logic, and signal processing,” Signal Processing, vol. 80, no. 6, pp. 913–933, 2000. doi: 10.1016/S0165-1684(00)00011-6
    J. R. Aguero and A. Vargas, " Calculating functions of interval type-2 fuzzy numbers for fault current analysis,” IEEE Trans. Fuzzy Systems, vol. 15, no. 1, pp. 31–40, Feb. 2007. doi: 10.1109/TFUZZ.2006.889757
    F.-Y. Wang and H. Mo, " Fundamental problems of type-2 fuzzy sets,” Acta Autom. Sinica, vol. 43, no. 7, pp. 1114–1141, 2017.
    M. Zhou, H. R. Dong, F.-Y. Wang, Q. L. Wang, and X. X. Yang, " Modeling and simulation of pedestrian dynamical behavior based on a fuzzy logic approach,” Information Sciences, vol. 360, pp. 112–130, Sep. 2016. doi: 10.1016/j.ins.2016.04.018
    M. Zhou, H. R. Dong, D. Wen, X. M. Yao, and X. B. Sun, " Modeling of crowd evacuation with assailants via a fuzzy logic approach,” IEEE Trans. Intell. Transp. Syst., vol. 17, no. 9, pp. 2395–2407, Mar. 2016. doi: 10.1109/TITS.2016.2521783


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索


    Article Metrics

    Article views (1439) PDF downloads(63) Cited by()


    DownLoad:  Full-Size Img  PowerPoint