**3.3 The NARMA L2 controller's result**

The speed detected from the sign recognition process will be taken as a reference input to the NARMA L2 controller. Here, we must also train the controller to adjust the vehicle speed. The training data obtained from the NARMA-L2 controller are illustrated in **Figure 17**.

**Figure 18**, displays the speed response of the proposed system with both increase and decrease of speed reference. We notice that the speed reaches rapidly the desired value. The proposed controller presents a good behaviour upon disturbances, and thus it is stabilized after duration of 0.05 s with an almost no static error.

*Advanced Driving Assistance System for an Electric Vehicle Based on Deep Learning DOI: http://dx.doi.org/10.5772/intechopen.98870*

**Figure 17.** *Training data of NARMA L2 controller.*

**Figure 18.** *Desired Speed curve with the NARMA L2 controller.*
