Uzunsoy, E., "A Fuzzy Logic Yaw Control Study with Human in the Loop Simulation," SAE Technical Paper 2013-01-0406, 2013, doi:10.4271/2013-01-0406.
Analyzing the real road behavior of a vehicle in the most basic form unavoidably needs a proper driver model. In this study, a vehicle model with 10 degrees of freedom is used in conjunction with a fuzzy-logic-based driver model to generate vehicle's path through a number of specified points through which the vehicle must pass. The fuzzy controller aiming to imitate a real driver was modified to account for secondary sight characteristic of a human eye. Both longitudinal and lateral controls were applied in the study in providing necessary vehicle speed. While the response of the vehicle is assumed as a human driver's actions under controlled handling maneuvers, a fuzzy yaw control strategy was used to control the yaw motion of the vehicle by using independent braking inputs. Analysis was focused on the intention of human driver while providing the yaw moment change. A simulation is carried out in the Matlab© programming environment using a vehicle model in Simulink©.