Table II presents the fuzzy rules adopted in obtaining the
system’s LOC, according to their fuzzy input set. Figure 1
(a) and Figure 1 (b) show the membership functions for the
system’s input fuzzy sets, in which the sets’ partial degrees of
membership, in border regions, can be seen. The output fuzzy
set, shown in Figure 1 (c), displays the structure to detect
the LOC. For example, severe congestion conditions occur
only when the vehicle’s speed is too low and the density of
neighboring vehicles on the road is very high.