5. Conclusion

Experiments with the Fuzzy ACC under various traffic conditions have shown that the fuzzy approach is very robust especially with regard to the inevitable sensor noise. The modular architecture facilitates fine-tuning of the fuzzy controller for the different situation-specific components and minimizes interference of those components during operation. The approach to adaptation has two main goals, flexibility and transparency. The system is very flexible through independently adaptable type of driver parameters in several situation-specific components. For example, we can have a high type of driver in the approach-mode and a low type in the follow-mode. Transparency means that the change of the con-troller's behavior caused by the adaptation should be comprehensible for the driver, so that the driver can always predict the behavior of the system. This is accomplished by including the driver in the control loop and by using the information about the specific driving situation for adaptation.