| 摘要 |
PURPOSE:To realize the safe tracking control of a self-traveling vehicle by turning the tracking actions of a human being into a fuzzy rule and deciding the acceleration/deceleration controlled variable with the fuzzy inference. CONSTITUTION:A controller of a self-traveling vehicle includes a measurement part 1, a fuzzy inference part 2 and a traveling control part 3. The part 2 infers and decides the controlled variable to be given to a traveling mechanism based on the distance data received from the part 1. In this respect, thepart 2 includes a fuzzy control rule which functions to perform the fuzzy inference, a knowledge based part 2 where a membership function is stored previously, and a fuzzy inference processor 22 which carriers out the fuzzy inference. Then only the distance data obtained from the sampling jobs carrier out in the preceding and this times are supplied to the part 2 so that fuzzy control rule is set with the acceleration/deceleration controlled variable defined as an output.
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