Table 11: Coefficients of fuzzy membership functions for change of steering angle.

Linguistic termsabcd

very rightCenter(1)Center(1)Center(1)+ D Center(2)+0.8D
rightCenter(1)+2.5D Center(2)+2D Center(3)
not changeCenter(3)-0.25D Center(3)Center(3)+0.25D
leftCenter(3)Center(4)-2D Center(5)-2.5D
very leftCenter(4)-0.8D Center(5)- D Center(5)Center(5)