5. Test Results 6. Conclusion

The described Fuzzy Controller was implemented in a test car and performed quite well in various driving situations. The behavior of the active accelerator pedal felt very " human like " and fulfilled the requirements described in section 3. The part of a test drive with the Fuzzy ACC presented in Figure 6 shows that the accuracy of the acceleration control was high enough to meet the intentions of the prior driving situation specific controller components. The described procedure to learn Fuzzy rules from training data is a straight forward method to capture functional interrelations between relevant parameters. It enables the user to constrain the size of the generated rulebase and the resolution of the resulting approximation by the number of input Fuzzy Sets. This resolution can be adjusted specifically to the current problem by the form and position of the Fuzzy sets. Additionally this procedure allows it to complete, extend and/or modify the generated function approximator locally by adding or changing certain rules.