Intelligent Speed Adaptation Using a Self-Organizing Neuro-Fuzzy Controller
ABSTRACT The need to increase road safety is a major concern, with millions of road users and pedestrians being killed in traffic accidents each year. The Centre for Computational Intelligence (C2i) at NTU has developed an intelligent driving system based on hybrid fuzzy neural networks, which is able to park autonomously, drive on highways, and take some decisions such as lane changing, car following, and overtaking. This paper presents a new approach to autonomously adapt the speed of a vehicle by learning from a human driver and using anticipation. The architecture of the system is a specific fuzzy neural network realized at C2i: the Generic Self Organizing Fuzzy Neural Network using the Yager inference scheme (GenSoFNN(Yager)). Experiments have been conducted in simulation to test the longitudinal control and the ability of the system to anticipate curves. Results found are very promising.