Patent ID: 9645576
Date: 2017-05-09
CPC Classifications: B60W,G05D,G06N

Claim:
1. Apparatus for controlling a land vehicle which is self-driving or partially self-driving, which apparatus comprises a coarse tuning assembly and a fine tuning assembly, the coarse tuning assembly being such that it comprises: a. a sensor interface which measures kinematic parameters including speed and braking, b. fuzzy descriptions to model guidance, navigation and control of the vehicle, the fuzzy descriptions including: and c. an adaptive fuzzy logic controller for nonlinear multi-input multi-output systems with subsystems which comprise fuzzification, inference, and output processing, which comprise both type reduction and defuzzification, and which provide stability of a resulting closed-loop system, the adaptive fuzzy logic controller including: and the fine tuning assembly being such that it comprises: a. inputs from the coarse tuning assembly, b. precognition horizons determining how many future samples of input sensor information are required in order to predict an optimum control sequence to change the driving dynamics, c. a linearized multi-input multi-output regression model extracted from the adaptive fuzzy logic controller at each time step providing fine tuning parameters, and d. a non-linear dynamic linearized regression controller providing: