Nowadays, urban intelligent traortation systems have been attracted significant attentions of researches and technology developments. Human and financial losses caused in traffic accidents as well as requesting for more comfortable auto-driving systems are the main reasons of these considerations. Emergency stop and turning systems are two essential subsystems of automatic cars. According to traffic rules, each turning should be started by an emergency stop. The purpose of this thesis is to design and analyzing a full automatic car turning system. At first, suitable path is designed for an emergency stop of the car along the street based on the car motion limitations. In the preliminary stopping phase, the car dynamic equations are employed to improve the accuracy of car model in all allowable speed. Then a sliding mode controller is designed. After preliminary stopping along the street, a proper path is designed considering traffic rules for the automatic car turning system. In the turning stage, due to the low speed of the car, car kinematic model is used and a new sliding mode controller is designed. Also, a Fuzzy decision making system in proposed for the automatic car turning system. Afterward, for verifying the proper performance of the proposed control systems, the designed paths and the controllers were implemented in Carsim which is a known car analyzing software. A sedan car with its actual parameters was designed in Carsim. The results of Carsim is compared with MATLAB simulations. Then, a car like mobile robot is designed and built based on small scale parameters of a sedan car. Finally, the automatic car turning system is implemented on the car like mobile robot. In each part, simulation and experimental results confirm the effectiveness of the proposed methods. Keywords: Intelligent traortation system, parallel parking system, automatic car turning, emergency stop, sliding mode controller, Carsim software.
