Artificial intelligence techniques applied to control processes are particularly useful when the elements to be controlled are complex and can not be described by a linear model. A trade-off between performance and complexity is the main factor in the design of this kind of system. The use of fuzzy logic is specially indicated when trying to emulate such human control actions as driving a car. This paper presents a fuzzy system that cooperatively controls the throttle and brake pedals for automatic speed control up to 50km/h. It is thus appropriate for populated areas where driving involves constant speed changes, but within a range of low speeds because of traffic jams, road signs, traffic lights, etc. The system gets the current and desired speeds for the car and generates outputs to control the two pedals. It has been implemented in a real car, and tested in real road conditions, showing good speed control with smooth actions resulting in accelerations that are comfortable for the car's occupants.
