Apparatus for controlling a land vehicle which is self-driving or partially self-driving, which apparatus comprises a coarse tuning
assembly (1, 2, 3) and a
fine tuning assembly (4), the coarse tuning
assembly (1, 2, 3) being such that It comprises: a. a sensor interface (1) which measures kinematic parameters including speed and braking, b. fuzzy descriptions to model guidance, navigation and control of the vehicle, the fuzzy descriptions including: (i) driver behaviour and driving dynamics, (ii) uncertainties due to the environment including weather, road conditions and traffic, and (iii) input faults including mechanical and electrical parts, and c. an adaptive
fuzzy logic controller (3) for nonlinear
MIMO systems (2) 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 (3) including: (i)
inference engine identifying relationships using a rule base and outputs as 'fuzzy sets' to a type
reducer, and (ii) output control demands including torque actuators to the fuzzyfier 'fuzzyfiying' the
signal, and the
fine tuning assembly (4) being such that it comprises: a. inputs from the coarse tuning assembly (1, 2, 3), b. precognition horizons determining how many future samples the objective function considers for minimization and the length of the control sequence computed, c. a linearized
MIMO regression model extracted from the adaptive
fuzzy logic controller (3) at each
time step providing the 'fine' tuning parameters, and d. a non-linear dynamic linearized regression controller (4a) providing: (I) a crisp output
signal feeding into APACC synthesis (4b) computing the optimal future
vehicle guidance, navigation and control sequence, and (II) reduced set output and APACC synthesis (4b) feeding into the APACC linear logic
system.