Decision making method

A vehicle controller comprising:

• sensors for calculating data relating to the motion state of a vehicle at a predetermined time, a storage device for storing a rule comprising a condition part indicating a status and a conclusion part comprising motion of said vehicle corresponding to said status and an intention level indicating a strength of intention for performing said motion, a fitness degree calculator for calculating a fitness degree indicating a fitness state of said status of the condition part to the data calculated by said sensors at said predetermined time, a weight calculator for calculating the weight of the intention of the motion of said conclusion part on the basis of the fitness degree calculated by said fitness degree calculator, and a controller for controlling the motion of said vehicle according to the following conditions at said predetermined time;
• (1) according to a first rule when said weight of intention of said first rule at the highest intention level is biggest among the rules stored in said storage device;
• (2) means for converting the weight of intention of said first rule so as to fit a second rule at the next intention level of said first rule, by a formula 1-M/L (1-X), where L is the strength of intention of said first rule, X is the fitness degree and M is the strength of intention of the second rule, and ascertaining whether one of said calculated weight of intention and the intention level of said second rule is biggest when said weight of intention of said first rule at the highest intention level is not biggest among the rules stored in said storage device;
• and
• (3) means for repeating said converting until the weight of intention of the rule at the highest intention level is maximized according to the second rule when one of them is biggest or for said second rule when both of them are not biggest.