Various studies have been conducted regarding road obstacle detection and avoidance, but very few studies deal with the detection and avoidance of obstacles that suddenly and unexpectedly appear during vehicle operation. Therefore, we have been conducting studies on problem of detecting suddenly and unexpectedly appear obstacles. As an extension stage of those studies, this paper presents about automatic smooth stopping of vehicle using a fuzzy control system. The proposed system conducts stopping control of the vehicle depending on the distance to the obstacle and vehicle speed when obstacle is detected. The simulation experiments and actual experiments using a mobile robot on behalf of a vehicle were conducted regarding the proposal.
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