fuzzy logic control system for car considering input parameters speed and distance of obstacle and determining the turn angle

1. FUZZY LOGIC CONTROL IN
AUTOMATED CAR SYSTEM
Presented by:
Mrunal Selokar [2013BCS065]
Suraj Bobade [2013BCS072]

2. WHAT IS IT…..?
The automated car system takes the
car speed and the distance of the
obstacle as an input and decides what
angular turn the car should take 

3. STEPS IN FUZZY INFERENCE
SYSTEM
• Fuzzification
• Rules
• Inference
• Defuzzification

4. FUZZIFICATION
Parameters of the fuzzy sets
SPEED:
slow [20 to 60 kmph]
Medium [40 to 80 kmph]
fast [60 to 100 kmph]
OBSTACLE DISTANCE:
Close [5 to 15 meters]
Medium [10 to 20 meters]
Far [15 to 25 meters]

6. RULES
Rule 1: If (obstacle is far)&(speed is slow) then angle is straight
Rule 2: If (obstacle is far)&(speed is medium) then angle is smallT
Rule 3: If (obstacle is far)&(speed is fast) then angle is medT
Rule 4: If (obstacle is med)&(speed is slow) then angle is smallT
Rule 5: If (obstacle is med)&(speed is medium) then angle is medT
Rule 6: If (obstacle is med)&(speed is fast) then angle is bigT
Rule 7: If (obstacle is close)&(speed is slow) then angle is medT
Rule 8: If (obstacle is close)&(speed is medium) then angle is bigT
Rule 9: If (obstacle is close)&(speed is fast) then angle is bigT

7. EXAMPLE
Speed= 45kmph ; obstacle distance= 12 meter

9. Delta1 =x - point1
Delta2 =point 2 – x
If(Delta1<=0 or Delta2<=0)
the Degree of membership=0
Else
Degree of membership= min { (Delta1
*slope1),(Delta2 *slope2 ),1}

10. For speed under slow region:
Point1=20,point2=60
Delta1=45-20=25
Delta2=60-45=15
Slope1=y2-y1/x2-x1
=1-0/40-20
=1/20
=0.05
Slope1=y2-y1/x2-x1
=1-0/60-40
=1/20
=0.05
µ=min{25*0.05 , 15*0.05 , 1}
=min{1.25,0.75,1}
=0.75

11. For speed under medium region:
Point1=40,point2=80
Delta1=45-40=5
Delta2=80-45=35
Slope1=y2-y1/x2-x1
=1-0/60-40
=1/20
=0.05
Slope1=y2-y1/x2-x1
=1-0/80-60
=1/20
=0.05
µ=min{5*0.05 , 35*0.05 , 1}
=min{0.25,1.75,1}
=0.25

12. For obstacle distance under close region:
Point1=5,point2=15
Delta1=12-5=7
Delta2=15-12=3
Slope1=y2-y1/x2-x1
=1-0/10-5
=1/5
=0.2
Slope1=y2-y1/x2-x1
=1-0/15-10
=1/5
=0.2
µ=min{7*0.2 , 3*0.2 , 1}
=min{1.4,0.6,1}
=0.6

13. For obstacle distance under medium region:
Point1=10,point2=20
Delta1=12-10=2
Delta2=20-12=8
Slope1=y2-y1/x2-x1
=1-0/15-10
=1/5
=0.2
Slope1=y2-y1/x2-x1
=1-0/20-15
=1/5
=0.2
µ=min{2*0.2 , 8*0.2 , 1}
=min{0.4,1.6,1}
=0.4

14. Speed:
Slow: µ=
0.75
Medium: µ=
0.25
Fast: µ= 0
Obstacle distance:
Close: µ= 0.6
Medium: µ= 0.4
Far: µ= 0
Resulting degrees of
membership

15. Rule 1 =0
Rule 2 =0
Rule 3 =0
Rule 4 =min{0.4,0.75}=0.4
Rule 5 =min{0.4,0.25}=0.25
Rule 6= min{0.4,0}=0
Rule 7=0
Rule 8=0
Rule 9=0
Maximum = 0.4

16. Centroid= (∑Ax) ∑A
=A*40/A
= 40 degrees
Therefore, the car will turn by 40
degrees.

17. THANK YOU 