An automatic neuro-fuzzy rule generation scheme is proposed for backing up navigation of car- like mobile robots. The proposed method is based on the Conditional Fuzzy C-Means (CFCM) and Fuzzy Equalization (FE) methods. The CFCM is adopted to render clusters, which can represent the homogeneous properties of the given input and output fuzzy data, and also the FE method is used to systematically construct the fuzzy membership functions for the ANFIS. From these, a compact size of fuzzy rules can be automatically obtained, which satisfy the given goal. The proposed method has been applied to a truck, and also to a truck-trailer backing up navigation problem, and good results have been achieved in comparison to previous work.