alternatively, to avoid the congestion charge, come in on the A40 and over the westway but come off and then follow signs for Shepherds bush/white city, follow the one way system A3220 via Holland road which will then cross Kensington High Street and curve to the left via Pembroke road. At the end of Pembroke road turn right down the Earls court road,which will cross Brompton, fulham and kings roads before it goes round the embankment and cross at Chelsea bridge. You can then either go round via Vauxhall and the route suggested above, or go through Clapham and Brixton, up Dulwich Road via Herne Hill and into Ed. Google maps is really good reference for blowing up and printing off for exact details of any of these routes. I used to visit my mother a lot in west london and so always went via Brixton, Clapham, Chelsea which is this route in reverse.