1.

Fuzzy Logic for Environment Perception:

Let's assume a fuzzy system that evaluates the traffic density and the visibility
at the intersection.
 Traffic Density:
 Low: 0.2
 Moderate: 0.7
 High: 1.0
 Visibility:
 Low: 0.3
 Moderate: 0.8
 High: 1.0
Rule base:
 IF Traffic Density is Low AND Visibility is High THEN Accelerate
 IF Traffic Density is Moderate THEN Maintain Speed
 IF Traffic Density is High OR Visibility is Low THEN Brake
2. Fuzzy Control for Vehicle Dynamics:
Now, let's consider fuzzy control for steering.
 Road Curvature:
 Low: 0.2
 Moderate: 0.7
 High: 1.0
 Rule base:
 IF Road Curvature is Low THEN Steer Slightly
 IF Road Curvature is Moderate THEN Straight
 IF Road Curvature is High THEN Steer Sharply
3. Advantages with Numerical Examples:
 Adaptability to Uncertainty:
 Sensor inputs: Traffic Density = 0.6, Visibility = 0.9
 Fuzzy inference:
 Acceleration: 0.7 (Moderate)
 Steering: 0.8 (Straight)
 Braking: 0.1 (Low)
 The system decides to moderately accelerate, maintain a straight
trajectory, and lightly brake based on the uncertain conditions.
 Human-Like Decision Making:
 Fuzzy logic allows the system to make decisions like a human
driver, considering the context (traffic density, visibility) and
making nuanced choices (moderate acceleration, straight steering)
based on the situation.
4. Challenges and Considerations:
 Computational Complexity:
 The real-time execution of fuzzy logic involves complex
computations. For instance, a fuzzy control system might require a
certain amount of milliseconds to process the inputs and generate
outputs, impacting the system's responsiveness.
 Training and Tuning:
 Training the fuzzy logic controller involves using a diverse dataset
of scenarios. The tuning process ensures that the fuzzy system
performs optimally across different conditions. This may involve
adjusting membership functions and rule weights.

In conclusion, while the above example simplifies the application of fuzzy logic
in autonomous cars, it illustrates how numerical data can be utilized to make
decisions in uncertain environments. The specific values and rules would need
to be calibrated and validated through extensive testing and real-world
scenarios to ensure the system's reliability and safety.