Poster for presenting the paper at EvoGAMES 2017 in Amsterdam. The abstract of the paper is: "When driving a car it is essential to take into account all possible factors; even more so when, like in the TORCS simulated race game, the objective is not only to avoid collisions, but also to win the race within a limited budget. In this paper, we present the design of an autonomous driver for racing car in a simulated race. Unlike previous controllers, that only used fuzzy logic approaches for either acceleration or steering, the proposed driver uses simultaneously two fuzzy controllers for steering and computing the target speed of the car at every moment of the race. They use the track border sensors as inputs and besides, for enhanced safety, it has also taken into account the relative position of the other competitors. The proposed fuzzy driver is evaluated in practise and timed races giving good results across a wide variety of racing tracks, mainly those that have many turning points."

1. Experiments and Results
University of Granada (Spain)
What is TORCS?
The Open Racing Car Simulator
Used in Competitions and Testbed for AI
Controllers (Driving bots):
• Sensors: Car and Track sensors
• Actuators: Steer, Accelerator, Break, Gear
Controller Architecture
ANTONIO M. MORA
JUAN JULIÁN MERELO University of Cádiz (Spain)
PABLO GARCÍA-SÁNCHEZ
University of Mascara (Algeria)
MOHAMMED SALEM
salem@univ-mascara.dz
amorag@ugr.es,jmerelo@ugr.es
pablo.garciasanchez@uca.es
STEER Fuzzy Controller
SPEED Fuzzy Controller
IF Front = High THEN TargetSpeed is 280
IF Front = Medium THEN TargetSpeed is 240
IF Front = Low AND M5 = High THEN TargetSpeed is 220
IF Front = Low AND M5 = Medium THEN TargetSpeed is 180
IF Front = Low AND M5 = Low AND M10 = High THEN TargetSpeed is 120
IF Front = Low AND M5 = Low AND M10 = Medium THEN TargetSpeed is 60
IF Front = Low AND M5 = Low AND M10 = Low THEN TargetSpeed is 30
IF Front = MAXDISTSPEED OR M5 = MAXDISTSPEED OR M10 = MAXDISTSPEED
THEN TargetSpeed = 300
IF Front = High THEN steer = 0
IF Front = Medium AND M10 = High THEN steer = 0.25
IF Front = Medium AND M10 = Medium AND M5 = Medium THEN steer = 0.25
IF Front = Medium AND M10 = Medium AND M5 = Low THEN steer = 0.5
IF Front = Low AND M10 = High THEN steer = 0.5
IF Front = Low AND M10 = Medium AND M5 = Medium THEN steer = 0.75
IF Front = Low AND M10 = Medium AND M5 = Low THEN steer = 0.75
Mamdani Fuzzy System
Trapezoidal Membership
AD-SP  Speed Controller
AD-SC  Steering Controller
AD-SSOP  SP + SC [+ Opponent]
SD  Standard Driver
Practise Race
20 laps - No rivals
Time Trial
300 seconds limit
No rivals
Competitive Race
AD-SSOP - Real Competition Teams
Conclusions
Fuzzy controller combining TWO modules instead of just one Good performance in different types of circuits => competitive against real teams
The opponents on race are also considered Too much damage in difficult circuits => the car cannot finish the race