This paper presents an advanced control strategy for autonomous vehicle lateral dynamics using Sliding Mode Control (SMC) integrated with Takagi-Sugeno (T-S) fuzzy logic and enhanced by the Barrier Lyapunov approach. The objective is to ensure fixed-time convergence and stability in the presence of uncertainties and disturbances. The mathematical model of the autonomous vehicle system is established as a preliminary step, after which control laws are designed. A comprehensive stability analysis is conducted to validate the stability and convergence of the overall system. The reaching law is adapted through the application of T-S fuzzy logic, thereby enhancing the controller's adaptability and reducing the phenomenon of chattering associated with the SMC method. The simulation results demonstrate superior performance, achieving a 33% faster convergence time compared to traditional SMC methods.