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The unmanned control of the steering wheel is, at present, one of the most important challenges facing researchers in autonomous vehicles within the field of intelligent transportation systems (ITSs). In this paper, we present a two-layer control architecture for automatically moving the steering wheel of a mass-produced vehicle. The first layer is designed to calculate the target position of the steering wheel at any time and is based on fuzzy logic. The second is a classic control layer that moves the steering bar by means of an actuator to achieve the position targeted by the first layer. Real-time kinematic differential global positioning system (RTK-DGPS) equipment is the main sensor input for positioning. It is accurate to about 1 cm and can finely locate the vehicle trajectory. The developed systems are installed on a Citroe/spl uml/n Berlingo van, which is used as a testbed vehicle. Once this control architecture has …