Abstract
This research focused on a vehicle control system capable of selecting suitable control parameters based on detection of the driving environment by multiple sensory devices, including video cameras and laser radar. An information space mapping type of sensor fusion system is proposed whereby multiple sensor signals are represented as vectors in sensor signal space, and the system variables needed for vehicle control from these vectors are mapped to corresponding vectors in control parameter space.
A hierarchical fuzzy integral model, represented in terms of declarative relationships, is adopted for the process of variable mapping, thereby avoiding the laborious complexities of sensor fusion design. Moreover, the driving environment recognition characteristics of individual drivers are treated in terms of perceptive sensibilities relative to affordance, making it possible to vary the lambda-fuzzy measure according to personal driving behavior. The applicability of the proposed system to vehicle control has been evaluated and fundamentally confirmed on the basis of simulations.
