Cloud Model Approach for Lateral Control of Intelligent Vehicle Systems

Table 1

(a) Rule sets of distance between the geometric center of an intelligent vehicle and the central axis of the lane. (b) Rule sets of included angle between heading direction and the central axis of the lane.

(a)

	Axis-line-distance		Steering wheel angle
	Positive more		Negative more
	Positive less		Negative less
If	Zero	Then	Zero
	Negative less		Positive less
	Negative more		Positive more

(b)

	Axis-line-angle		Steering wheel angle
	Positive more		Negative more
	Positive less		Negative less
If	Zero	Then	Zero
	Negative less		Positive less
	Negative more		Positive more