Rule-based guidance for highway driving in the presence of uncertainty

Axel Niehaus, Robert F. Stengel

Research output: Contribution to journalArticlepeer-review


The principal objective of this research is to study the feasibility of a real-time, rule-based guidance system for an automobile on a limited-access highway. The inputs to the system are parameters describing the traffic situation, road geometry, vehicle state, and a driver selected goal. The output of the system consists of guidance parameters that command control logic governing the throttle, steering angle, and brakes. During our past research, a dynamic expert system accomplished this guidance task under the assumption that all inputs were available deterministically, i.e., without error. This paper investigates the types and effects of uncertainties encountered in a more realistic environment, and it proposes a stochastic methodology to extend the expert system to handle information that is known only in a probabilistic way.

Original languageEnglish (US)
Pages (from-to)668-674
Number of pages7
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number4
StatePublished - Dec 1994

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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