Customizable hardware design of fuzzy controllers applied to autonomous car driving

Nedjah, Nadia; Sandres, Paulo Renato S. S.; Mourelle, Luiza de Macedo

doi:10.1016/j.eswa.2014.05.032

Cited by 14 publications

(7 citation statements)

References 25 publications

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“…The fuzzifier encodes the crisp measured values of each system parameter (ambient temperature, speed and its derivative errors, and sonar) into a fuzzy term using the given membership functions. The inference module allows identifying the subset of fuzzy rules that can be fired and draw adequate fuzzy consequences [17]. Herein, we have used the Mamdani Min-Max process.…”

Section: Figure 1 Architecture Of the Fuzzy Logic Controllermentioning

confidence: 99%

“…The fuzzy logic control was also investigated to reach an intelligent vision by autonomous vehicles to park correctly through a braking process [15]- [17]. In these works, FPGA circuits were used to implement the proposed fuzzy logic controllers.…”

Section: Introductionmentioning

confidence: 99%

“…In these works, FPGA circuits were used to implement the proposed fuzzy logic controllers. The authors in [17] have especially proposed a fully customizable hardware architecture of two fuzzy logic controllers for autonomous cars. The first one was used to control the wheel's orientation and the second controlled the speed of the wheels.…”

Section: Introductionmentioning

confidence: 99%

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FPGA based co-design of a speed fuzzy logic controller applied to an autonomous car

Aridhi

Popescu²,

Mami

2021

IJRES

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This paper invests in FPGA technology to control the speed of an autonomous car using fuzzy logic. For that purpose, we propose a co-design based on a novel fuzzy controller IP. It was developed using the hardware language VHDL and driven by the Zynq processor through an SDK software design written in C. The proposed IP acts according to the ambient temperature and the presence or absence of an obstacle and its distance from the car. The partitioning of the co-design tasks divides them into hardware and software parts. The simulation results of the fuzzy IP and those of the complete co-design implementation on a Xilinx Zynq board showed the effectiveness of the proposed controller to meet the target constraints and generate suitable PWM signals. The proposed hardware architecture based on 6-LUT blocks uses 11 times fewer logic resources than other previous similar designs. Also, it can be easily updated when new constraints on the system are to be considered, which makes it suitable for many related applications. Fuzzy computing was accelerated thanks to the use of digital signal processing blocks that ensure parallel processing. Indeed, a complete execution cycle takes only 7 us.

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Section: Figure 1 Architecture Of the Fuzzy Logic Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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FPGA based co-design of a speed fuzzy logic controller applied to an autonomous car

Aridhi

Popescu²,

Mami

2021

IJRES

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“…A lógica nebulosa é uma ferramenta para o desenvolvimento de estratégias de controle que permite uma maior flexibilidade nas regras do controlador, e consequentemente, permite a implementação da capacidade de autonomia. O modo de operação Fuzzy permite diferentes abordagens, como por exemplo em [1], onde é discutida uma forma de implementação da lógica nebulosa em sistemas reconfiguráveis aplicada ao controle de velocidade de cruzeiro de um carro autônomo. Outra abordagem semelhante é apresentada em [2].…”

Section: Introductionunclassified

Navegação e Mapeamento Simultâneo em um Carro Autônomo Baseado na Lógica Nebulosa

Filho¹,

Oliveira²,

Oliveira³

et al. 2015

Anais Do 12. Congresso Brasileiro De Inteligência Computacional

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Resumo-Este trabalho apresenta o controle de navegação e mapeamento de um carro autônomo por sistema nebuloso (Fuzzy) que permite o desvio automático de obstáculos em ambientes desconhecidos. A estratégia baseia-se em um mapa do ambiente, que é criado de acordo com a navegação, para planejar as trajetórias através do algoritmo de busca A*. A abordagem proposta é avaliada em um ambiente virtual, onde o carro autônomo deve movimentar-se entre diversos obstáculos. Palavras-chave-Carro autônomo, lógica nebulosa, mapeamento automático de obstáculos, algoritmo A*.

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“…In addition, researchers concentrate on some design products including printed circuit board and personal digital assistant, but they pay little attention to the automotive style/body design problem. Although some researchers have proposed to use fuzzy logical [21][22][23] and genetic algorithm 24 to address the product form design problem, these methods still heavily depend on subjective experience/intuition of one or several designer and assume that each factor involved with design characteristics is equally important. In fact, based on the actual customer requirements, each factor associated with design characteristics should have different importance degree by identifying main design characteristics of a desired product.…”

Section: Introductionmentioning

confidence: 99%

Automotive style design assessment and sensitivity analysis using integrated analytic hierarchy process and technique for order preference by similarity to ideal solution

Tian

Zhang

Jia

et al. 2016

Advances in Mechanical Engineering

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Product style characteristics have a large impact on product function. Making an objective and precise assessment of style characteristic has become an increasing importance to improve the production efficiency and reduce environmental pollution. This work proposes a framework built by analytic hierarchy process and technique for order preference by similarity to ideal solution methods, that is, analytical hierarchy process and technique for order performance by similarity to ideal solution, to evaluate automotive style design alternatives' performance, together with automotive style design characteristics. Analytic hierarchy process is applied to obtain weights of the performance, and technique for order preference by similarity to ideal solution is adopted to rank the design alternatives. A case study is illustrated to test and verify the proposed method. Simultaneously, sensitivity analysis is provided to monitor the robustness of this method. The results show that it provides an effective and feasible method for evaluation of automotive style design alternatives' performance.

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Customizable hardware design of fuzzy controllers applied to autonomous car driving

Cited by 14 publications

References 25 publications

FPGA based co-design of a speed fuzzy logic controller applied to an autonomous car

FPGA based co-design of a speed fuzzy logic controller applied to an autonomous car

Navegação e Mapeamento Simultâneo em um Carro Autônomo Baseado na Lógica Nebulosa

Automotive style design assessment and sensitivity analysis using integrated analytic hierarchy process and technique for order preference by similarity to ideal solution

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