MATLAB Fuzzy Controller Design for Vehicle Distance Control

Under the given scenario, we consider two vehicles (target vehicle and ego vehicle) with identical transfer functions between speed y and throttle control input u.

The requirement is to design a fuzzy controller achieving the following objectives:

1) Control the ego vehicle starting from stationary position to pursue a target vehicle moving at 90 km/h located 200m ahead, while maintaining a 30m distance.

2) When the target vehicle's speed changes to 110 km/h, maintain the 30m following distance.

3) When the target vehicle's speed changes to 70 km/h, maintain the 30m following distance.

To achieve these objectives, the following key technologies are implemented:

- Build system simulation model using Simulink blocks, including vehicle dynamics and sensor modules

- Design fuzzy logic rules based on distance error and relative velocity inputs

- Design membership functions for linguistic variables (e.g., "close", "far", "fast", "slow") using triangular or Gaussian curves

- Utilize Fuzzy Logic Toolbox's FIS Editor to create a fuzzy inference system incorporating the membership functions and control rules, implementing Mamdani-type fuzzy inference with centroid defuzzification method

Through these implementations, we can effectively meet the control requirements and achieve the desired vehicle distance maintenance objectives.