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Fuzzy Behaviors and Behavior Arbitration in Autonomous Vehicles

机译：自主车辆的模糊行为与行为仲裁

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摘要

In this paper a fuzzy behavior based decision control is presented. A behavior is described by one or more fuzzy controllers reacting to external stimulus, and a state variable (denoted behavior activity) measuring how evident are the conditions of application of the knowledge coded in the fuzzy controllers. The autonomous vehicle decision control is composed by several behaviors of this kind, each one feeding an arbitrator with the activity and action values. The arbitrator evaluates the final action to send to the actuators taking into consideration each behavior activity and action values. Two arbitration methods are proposed. Results of simulations are presented and conclusions are drawn.
机译：本文提出了一种基于模糊行为的决策控制方法。一种行为由一个或多个对外部刺激做出反应的模糊控制器和状态变量（表示行为活动）描述，该状态变量（表示行为活动）测量在模糊控制器中编码的知识的应用条件是否明显。自主车辆决策控制由几种此类行为组成，每个行为都向仲裁员提供活动和动作值。仲裁员会考虑每个行为活动和动作值来评估要发送给执行器的最终动作。提出了两种仲裁方法。给出了仿真结果并得出了结论。

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