Design, Modelling, and Implementation of a Fuzzy Controller for an Intelligent Road Signaling System

Table 3

Rule base for the ultrasound fuzzy controller.

Rule number	Local device	Left neighbor	Right neighbor	Obstacle
1	Far	Far	Far	No
2	Far	Far	Medium	No
3	Far	Far	Near	✓
4	Far	Medium	Far	No
5	Far	Medium	Medium	✓
6	Far	Medium	Near	✓
7	Far	Near	Far	✓
8	Far	Near	Medium	✓
9	Far	Near	Near	✓
…	…	…	…	…
27	Near	Near	Near	✓