(Fuzzy controllers) ( ) .
. Fuzzy controllers: ( - ).
- (Fuzzy PID Controller) . 2.18.
. 2.18.
. . 2.18 :
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2.2.7 :
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2.1
1. , ( ). (Rule 1: IF distance between cars is short AND speed is slow, THEN hold the gas pedal steady (maintain the speed)). |
2. , ( ). (Rule 2: IF distance between cars is short AND speed is fast, THEN step on the brake (reduce the speed)). |
3. , ( ). (Rule 3: IF distance between cars is long AND speed is slow, THEN step on the gas pedal (increase the speed)). |
4. , ( ). (Rule 4: IF distance between cars is long AND speed is fast, THEN hold the gas pedal steady (maintain the speed)). |
: , (distance, speed, and acceleration). (short), (long), (slow), (step on brake) , . 2.19.
. . , , 70 / .
- , - - . :
[m]
[km/h]
. 2.19.
:
: (short) | : (slow) | : . (maintain) |
: (long) | : (fast) | : (reduce) |
: (increase) | ||
() | () | () |
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2.1 :
1:
2:
3:
4: .
, look-up table, :
, , .
.
. 2.20 = 18 = 48 /.
(reduce speed a little). .
. 2.20.