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Abstract-Fuxzy control, which is now widely U@ in a varied then materializing its controlling methods. The fuzzy control
number of fields, has also proved its usefulness in automobile attempts to achieve control by incorporating human decision-
engineering, where it can be used to automatically achieve making abilities into the controller as demonstrated by
constant speeds and control anti-lock brake systems. As seen in operators skilled in operating highly complicated systems. In
the case of automatic control of plants, where the operator's short, the method aims to simulate human behavior using a
strategy is compiled for the purpose, these systems can only be
realized af'ter a knowledge base has been established. Knowledge
computer.
bases have been based on interviews and questionnaires given to For an example, a human operator's control strategy needs
operators and their knowledge in how control devices work. This to be first established on knowledge base for automating a
approach was tended to obtain only the most characteristic manufacturing plant.
knowledge and failed to provide satMactory control results. In A conventional approach for composing the knowledge is
view of this problem, we are proposing a way to construct a "questionnaire and interview" methods. This approach,
knowledge base that has the potential for a wide range of however, tends to extract knowledge of only very specific
applications. features and not of overall circumstance. As a result, it is
The behavior of human beings is generally regarded as a often unsuccessful to materialize the control by mereIy
cyde of recognition of their environment, judgement, and action.
This model of behavior consists of two processes: a responsive
describing the knowledge, obtained through question and
action devoid of intentional judgement and action based on interview methods, in accordance of the rules of
knowledge and restrictions. Using this model, the authors have "IF...THEN..." which in tum poses a serious problem in
constructed a three-layer knowledge base that draws on common designing control systems.
sense, knowledge based on experience, and restriction In this This paper proposes, in consideration of above mentioned
way a satisfactory knowledge base is constructed so that the problem, a method to construct highly flexible knowledge
reliability of control devices can be significantly enhanced. base and introduces the field test results of the fuzzy control
This paper describes how the layers of knowledge have been applied to shift scheduling system of vehicle automatic
constructed by applying the fuzzy control to the shift transmission.
scheduling of automatic transmission cars(AT vehicles), and
introduces the field test results of the scheduling system by a
fuzzy control device to verify the effectiveness of the 11. HUMAN THINKING PP.WESS
aforementioned approach.
When in the process of taking action, humans are not
I. INTRODUCTION conscious of the mathematical model based on which the
intended control is implemented. Rather, they roughly
In recent years, automobiles are designed to have higher recognize the circumstance, then make a judgement and take
performances and more sophisticated functions. As the action. The process can be broken down into four steps :
vehicle performances and functions became higher and more recognition->judgement->decision->action.(Fig.1) It is easy
sophisticated, it has become difficult to explain its function to describe this series of actions by the production rule of
without human elements because of the qualitative "IF...THEN...". Since this rule itself is regarded as the know-
advancement achieved and the amount of information how for the control obtained through experience, practical
processed in a modem automobile. In other words, today's application of the rule can be considered to be an effective
automobiles are required to have more sophisticated approach to automate the complicated operations performed
operational functions and features, in addition to the basic by humans.
function of being mere by a transportation device in order to This process reveals a strong linkage of the human action
respond to more demanding human perceptions. There is also with knowledge they process, the information obtained from
a stronger demand for qualitative improvement of controls the outside world, and object consciousness of how U> reflect
that have been considerednot so simple to materialize. the intention in their mind to the action. Thus, once the
On the other hand, for automating complicated controls following problems are solved, automatic control by a
performed manually by humans, engineers are now placing computer will begin to approximate the flexible operation by
emphasis on the fuzzy control method which controls humans : how to extract and compile the information in the
objective system by first focusing on human knowledge and brains; and how to introduce useful information into the
computer.
@78034614-7/93$03.0001993IEEE 52
The authors propose to construct a knowledge base using
three categories of knowledge : (1) knowledge of common
sense that oversees the whole; (2) knowledge of experience
that is locally effective or characteristic; and (3) restriction.
This will prevent an evasion of knowledge and make the
controller to work on the basis of common sense in the
normal situations and activate the experience when necessary,
thereby improving their reliability to a large extent.
B. Extracting knowledge
ENW"l
, RECOGNITION
'
,,
VOLUNTARY
ACTION
.......
.........__..........
I INVOLUNTARY
ACCTK)II
~
'
-OBJECT
COMMON SENSE
UPERIENCE
ACTION '
-i
ACTUAL LEVEL
INPUT
I WATERLEAKOUT
2 ) Knowledge base
21-1 Knowledge base for shifr scheduling : As explained
before, the knowledge for the shift scheduling consists of
common sense and experience. For the common sense, it
would be most appropriate to adopt the most fundamental
characteristic required by the object to be controlled. The
authors consider the following two pints as the most
essential requirements for shift scheduling of automatic
transmissions.
Fig. 7 Gear Shift Map (1) Selection of shifting gears according to the vehicle
speed.
(2) Shiftings in accordance with the vehicle speeds are
KNOWLEDGE BASE
variable in accordance with the throttle opening.
These points can be expressed in the form of
"IF...THEN..."statements as follows:
(1) If the vehicle speed is high, then use a higher gear, and
if the vehicle speed is low, then use a lower gear.
(2) If the throttle opening is large, then use a lower gear,
and if the throule opening is small, then use a higher
fF=.
These two sets of knowledge have been extracted through
a study of characteristics that AT vehicles should have.
INFERENCE BLOCK Together they form an overall knowledge base that works in
all driving conditions and agrees with human instinct.
Experiences, under special circumstance where common
Fig. 8 Fuzzy AT Shift Scheduling System
sense could not be utilized, are responsible for correcting the
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output power produced by common sense. During uphill
driving, for an example, a common sense of "shifting into a (ffdiv)
higher gear as the vehicle accelerates" is not necessary where a:Acc Pedal operation
8:Break Pedal operation
applicable. In such a case, the driver's experience leads him to
use a lower gear. Experience is the basis of this decision. n
(*,*,KC)
A
y:Sbte of Vehicle speed
where *:Option
A list of the concrete knowledge base in the AT shift
scheduling system and its membership functions are (OFF,ON,DEC)
described in Fig. 9.
EXPEWENCE
7.IF (RESISI IS ffi) AM)
(lliROT IS LOW ANLI
lspaD IS NOT VERY LOW1 AND
2 IF 0DROP IS DECELERPTKM) AN0
(MROT IS aOSqAM)
ylLFISFAlRSKAU.)AND
(RESIST IS NOT W A N D
(spm, 6 LOW
TtN (t0.03)
Fig. 9 "IF...THEN..." Rules and Fuzzy Sets(SH1FT POSITION) Fig. 11 "IF...THEN ..."Rules and Fuzzy Sets (INTENTION)
56
V. FIELD TEST RESULTS Table I Fuel Consumption
otl I
ioort I
SPEED 50
!Km/h)
0
1 2 3 4 Fig. 14 Comparisonof Fuzzy and D-Range I11 (DOWNHILL DRIVING)
TIME (min.)
MO
FUZZY
58