CN109572697B - Fuzzy control based automatic throttle control method for special road section traveling vehicle - Google Patents
Fuzzy control based automatic throttle control method for special road section traveling vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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Abstract
The invention discloses an automatic throttle control method for a vehicle running on a special road section based on fuzzy control, which comprises the steps of firstly learning the usual driving habit and driving style of a model driver, establishing a fuzzy control rule by using data acquired in the learning process, and then setting the speed v of the vehicle, the distance d between the vehicle and a front vehicle and the opening error e of a throttle valve during the running of the vehicle1And rate of change e of throttle opening error2And finally, the total fuzzy control output quantity is used as the final state quantity of the throttle opening to control the opening of the vehicle throttle. The method ensures the rationality and accuracy of the opening degree of the throttle valve of the vehicle by the driver and well controls the speed of the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic control of vehicles, in particular to an automatic throttle control method of a vehicle running on a special road section based on fuzzy control.
Background
Fuzzy control is artificial intelligence based on semantic rules, which was born in the last century, and with the increasing maturity of the technology, the fuzzy control is widely applied in various fields of human production activities, and automatic driving is an important application object.
Since the surrounding environment is complicated when the vehicle is running at an intersection or a road where the vehicles and pedestrians are dense, the fuzzy control can embody better reliability and comfort for such a case. Fuzzy control belongs to intelligent control, can realize nonlinear control, does not need to establish an exact mathematical model for an object, and has better robustness and flexibility. A fuzzy controller and a stepping motor are additionally arranged between an accelerator sensor and a speed reducer of a vehicle, and the fuzzy control method can fully use the driving experience of an excellent model driver for reference, simulate the driving behavior of the model driver and form better dynamic characteristics in the aspect of accelerator control.
Disclosure of Invention
The invention aims to provide an automatic throttle control method for a vehicle running on a special road section based on fuzzy control.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
An automatic throttle control method of a vehicle running on a special road section based on fuzzy control comprises the following steps:
substep 2a, fuzzy quantization: collecting the speed v of the vehicle, the distance d between the vehicle and a front target vehicle and the opening error e of a throttle valve when the vehicle runs on a special road section1And rate of change e of throttle opening error2And the speed v of the vehicle, the distance d between the vehicle and the front target vehicle and the error e of the opening degree of the throttle valve1And rate of change e of throttle opening error2As a fuzzy control input; and the speed v of the vehicle and the distance between the vehicle and the front target vehicled and throttle opening error e1And rate of change e of throttle opening error2Carrying out fuzzy quantization to obtain corresponding fuzzy input quantity;
substep 2b, fuzzy inference: carrying out fuzzy reasoning according to the fuzzy control rule to obtain a corresponding fuzzy output quantity; based on two fuzzy input quantities of the speed v of the vehicle and the distance d between the vehicle and the front vehicle, carrying out fuzzy inference according to the fuzzy control rule to obtain a first fuzzy output quantity; based on the error e of the opening of the throttle valve1And rate of change e of throttle opening error2The two fuzzy input quantities are subjected to fuzzy reasoning according to the fuzzy control rule to obtain a second fuzzy output quantity;
substep 2c, fuzzy decision: carrying out fuzzy judgment on the first fuzzy output quantity and the second fuzzy output quantity to correspondingly obtain a first fuzzy control output quantity u1And a second fuzzy control output u2；
Substep 2d, combining fuzzy control output quantity: the first fuzzy control output quantity u1And a second fuzzy control output u2Merging according to a merging rule to obtain a throttle opening state quantity U;
and a substep 2e, controlling the state of the throttle opening by an actuator according to the throttle opening state quantity U by a control system of the vehicle.
The technical scheme of the invention has the characteristics and further improvements that:
the special road section is a crossroad, a road section with dense pedestrians or vehicles.
In step 1, the corresponding relationship is a corresponding relationship between v +0.01d and the throttle opening x.
In substep 2a, the throttle opening error e is adjusted1Defined as { NB, NS, ZE, PS, PB }5 fuzzy subsets; the error change rate e of the throttle opening degree is calculated2Defined as { NB, NM, NS, ZE, PS, PM, PB }7 fuzzy subsets; defining the vehicle speed v of the vehicle as { ZE, S, M, L }4 fuzzy subsets; and defining the distance d between the own vehicle and the front target vehicle as { NB, NS, ZN, ZE, ZP, PS, PB }7 fuzzy subsets.
In substep 2a, ZMF, TRIMF and SMF functions are used to correct the throttle opening error e1Carrying out fuzzy quantization; rate of change e of throttle opening error using TRIMF function2Carrying out fuzzy quantization; carrying out fuzzy quantization on the speed v of the vehicle by adopting TRAPMF and TRIMF functions; and carrying out fuzzy quantization on the distance d between the self vehicle and the front target vehicle by adopting a TRIMF function.
In sub-step 2c, the first fuzzy control output quantity u1And a second fuzzy control output u2Are respectively defined as { JX, BC, ZD }3 fuzzy subsets.
In sub-step 2d, the merge rule is U ═ Pu1+(1-P)u2Wherein P is 0.5 to 0.7.
In step 1, the real-time acquisition is at least 10 hours of real-time acquisition.
In the step 1, the speed v of the vehicle is measured by a vehicle speed sensor, and the vehicle speed sensor is arranged on a transmission of the vehicle.
In the step 1, the distance d between the self-vehicle and a front target vehicle is measured by a laser scanning radar which is arranged in the center of a front bumper of the self-vehicle.
Compared with the prior art, the invention has the beneficial effects that:
the automatic throttle control method for the vehicles running on the special road section based on the fuzzy control has simple and convenient internal operation, can ensure that the speed of the vehicles is well controlled, thereby effectively reducing the occurrence rate of traffic accidents, ensuring the rationality and the accuracy of the throttle opening of the vehicles, ensuring that the speed of the vehicles has stronger rationality when the vehicles run on the special road section, and having strong reference and practicability.
Drawings
The invention is described in further detail below with reference to the figures and specific embodiments.
FIG. 1 is a flow chart of an automatic throttle control method for a vehicle traveling on a special section based on fuzzy control according to the present invention;
FIG. 2 illustrates a fuzzy control-based special road segment according to the present inventionThrottle opening error e of one embodiment of automatic throttle control method for traveling vehicle1The fuzzy subset division and the design drawing of the membership function;
FIG. 3 is a throttle opening error change rate e of an embodiment of the method for automatically controlling the throttle of a vehicle traveling on a special road based on fuzzy control according to the present invention2The fuzzy subset division and the design drawing of the membership function;
FIG. 4 is a design diagram of fuzzy subset division and membership function of the vehicle speed v of the vehicle in an embodiment of the automatic throttle control method for the vehicle traveling on the special road section based on the fuzzy control;
FIG. 5 is a design diagram of fuzzy subset partition and membership function of the distance d between the vehicle and the front target vehicle according to an embodiment of the automatic throttle control method for vehicles traveling on special road sections based on fuzzy control;
FIG. 6 is a first fuzzy control output quantity u of the method for automatically controlling the throttle of the vehicle traveling on the special section based on the fuzzy control according to one embodiment of the present invention1And a second fuzzy control output u2The fuzzy subset partition and the design drawing of the membership function.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to examples, but it will be understood by those skilled in the art that the following examples are only illustrative of the present invention and should not be construed as limiting the scope of the present invention.
The invention provides an automatic throttle control method of a vehicle running on a special road section based on fuzzy control, which has the following principle:
firstly, a mechanical reinforcement learning method is adopted to learn the usual driving habits and driving styles of a model driver. The method comprises the steps that a driver drives a vehicle to run at an intersection or a road section with dense pedestrians and vehicles, a vehicle speed sensor and a laser scanning radar installed in the center of a front bumper of the vehicle are used for collecting the vehicle speed v of the vehicle and the distance d between the vehicle and the front vehicle in real time in the running process, and meanwhile, the opening x of a throttle valve of the vehicle under the conditions of different vehicle speeds and different distances between the vehicle and the front vehicle is recorded.
In order to achieve a more comprehensive understanding of the style and driving habits of the driver, the data recording accumulation time in the learning stage is required to be 10 hours or more.
After learning of the driving experience of the model driver is completed, the throttle opening of the vehicle is automatically controlled correspondingly by using the collected data. The method is dual fuzzy control, namely the speed v of the vehicle, the distance d between the vehicle and the front vehicle and the error e of the opening degree of the throttle valve are utilized1And rate of change e of throttle opening error2As a fuzzy control input quantity. Then, the four variables are subjected to fuzzy quantization by using proper membership functions, so that four corresponding fuzzy input quantities are obtained. And then carrying out fuzzy reasoning according to the corresponding relation of the speed of the vehicle, the distance between the vehicle and the front vehicle and the opening degree of the throttle valve, which is learned before, as a fuzzy control rule to obtain corresponding fuzzy output quantities, combining the obtained fuzzy output quantities to obtain a total fuzzy control output quantity, and taking the total fuzzy control output quantity as a final state quantity of the opening degree of the throttle valve. The control system of the vehicle controls the actuator to adjust the state of the throttle opening according to the final throttle opening state quantity, so that the throttle control of the vehicle conforms to the driving style and driving habits of a model driver.
In particular, the method comprises the following steps of,
referring to fig. 1, the invention provides an automatic throttle control method for a vehicle traveling on a special road section based on fuzzy control, comprising the following steps:
substep 2a, fuzzy quantization: collecting the speed v of the vehicle, the distance d between the vehicle and a front target vehicle and the opening error e of a throttle valve when the vehicle runs on a special road section1And rate of change e of throttle opening error2And the speed v of the vehicle, the distance d between the vehicle and the front target vehicle and the error e of the opening degree of the throttle valve1And rate of change e of throttle opening error2As a fuzzy control input; and the speed v of the vehicle, the distance d between the vehicle and the front target vehicle and the error e of the opening degree of the throttle valve1And rate of change e of throttle opening error2Carrying out fuzzy quantization to obtain corresponding fuzzy input quantity;
substep 2b, fuzzy inference: carrying out fuzzy reasoning according to the fuzzy control rule to obtain a corresponding fuzzy output quantity; the method comprises the following steps that fuzzy reasoning is carried out according to a fuzzy control rule on the basis of two fuzzy input quantities of the speed v of a vehicle and the distance d between the vehicle and a front vehicle to obtain a first fuzzy output quantity; based on the error e of the opening of the throttle valve1And rate of change e of throttle opening error2The two fuzzy input quantities are subjected to fuzzy reasoning according to a fuzzy control rule to obtain a second fuzzy output quantity;
substep 2c, fuzzy decision: carrying out fuzzy judgment on the first fuzzy output quantity and the second fuzzy output quantity to correspondingly obtain a first fuzzy control output quantity u1And a second fuzzy control output u2；
Substep 2d, combining fuzzy control output quantity: the first fuzzy control output quantity u1And a second fuzzy control output u2Merging according to a merging rule to obtain a throttle opening state quantity U;
and a substep 2e, controlling the state of the throttle opening by an actuator according to the throttle opening state quantity U by a control system of the vehicle.
Further, the special road section is a crossroad, a road section with dense pedestrians or vehicles.
Further, in step 1, the real-time acquisition is at least 10 hours of real-time acquisition.
Further, in step 1, the vehicle speed v of the vehicle is measured by a vehicle speed sensor, and the vehicle speed sensor is arranged on a transmission of the vehicle.
Further, in step 1, the distance d between the vehicle and the front target vehicle is measured by a laser scanning radar which is installed in the center of a front bumper of the vehicle.
Further, in step 1, the corresponding relationship established among the vehicle speed v, the distance d between the vehicle and the front vehicle, and the throttle opening x is as follows: the corresponding relation between v +0.01d and the opening x of the throttle valve is recorded; wherein the unit of the speed v of the self vehicle is km/h, and the accuracy is 1; the unit of the distance d from the front vehicle is m, and the accuracy is 1; the unit of the throttle opening x is 1.
Further, in the substep 2a, the throttle opening error e is corrected1Defined as { NB, NS, ZE, PS, PB }5 fuzzy subsets; the error change rate e of the throttle opening degree is calculated2Defined as { NB, NM, NS, ZE, PS, PM, PB }7 fuzzy subsets; defining the vehicle speed v of the vehicle as { ZE, S, M, L }4 fuzzy subsets; and defining the distance d between the own vehicle and the front target vehicle as { NB, NS, ZN, ZE, ZP, PS, PB }7 fuzzy subsets.
Wherein, the error e of the opening degree of the throttle valve1The 5 fuzzy subsets { NB, NS, ZE, PS, PB } are respectively negative big, negative small, zero, positive small, positive big; rate of change e of throttle opening error2The 7 fuzzy subsets { NB, NM, NS, ZE, PS, PM, PB } are respectively negative big, negative middle, negative small, zero, positive small, middle and positive big; 4 fuzzy subsets { ZE, S, M, L } of the speed v of the vehicle are respectively zero, small, moderate and large; the 7 fuzzy subsets { NB, NS, ZN, ZE, ZP, PS, PB } of the distance d between the own vehicle and the front target vehicle are respectively negative big, negative small, zero, positive small and positive big.
For example, fig. 2-5 respectively show the throttle opening error e when the automatic throttle control method of the vehicle based on fuzzy control for a special section of road is applied1Throttle opening error change rate e2The design drawing of the fuzzy subset division and the membership function of the speed v of the vehicle and the distance d between the vehicle and the front target vehicle.
Further, in the substep 2a, ZMF, TRIMF and SMF functions are adopted to correct the throttle opening error e1Carrying out fuzzy quantization; rate of change e of throttle opening error using TRIMF function2Carrying out fuzzy quantization; carrying out fuzzy quantization on the speed v of the vehicle by adopting TRAPMF and TRIMF functions; and carrying out fuzzy quantization on the distance d between the self vehicle and the front target vehicle by adopting a TRIMF function.
Further, in sub-step 2c, the first fuzzy control output u is used1And a second fuzzy control output u2Are respectively defined as { JX, BC, ZD }3 fuzzy subsets.
Wherein the first fuzzy control output quantity u1And a second fuzzy control output u2The 3 fuzzy subsets JX, BC, ZD are decrease, hold, increase, respectively.
For example, fig. 6 illustrates a first fuzzy control output u when the automatic throttle control method for a vehicle traveling on a special road based on fuzzy control according to the present invention is applied to practice1And a second fuzzy control output u2The fuzzy subset partition and the design drawing of the membership function.
Specifically, the fuzzy rule based on the vehicle speed v of the host vehicle and the distance d between the host vehicle and the front vehicle is as follows:
TABLE 1
Based on the error e of the opening of the throttle valve1And rate of change e of throttle opening error2The fuzzy rule of (1) is as follows:
TABLE 2
Further, in sub-step 2d, the merge ruleThen U equals Pu1+(1-P)u2Wherein P is 0.5 to 0.7.
Note that, the throttle opening error e in the present invention1Throttle opening error change rate e2The method specifically comprises the following steps: when a common driver drives a vehicle to run on a special road section, the opening x of a throttle valve in the driving process can be acquired in real time1The control system in the self vehicle can adjust the throttle opening x in the driving process of the common driver1Comparing the difference with the throttle opening x of a model driver under the same condition, namely the error e of the throttle opening1The rate of change of the error generated by the two is the rate of change e of the throttle opening error2。
The automatic throttle control method for the vehicle running on the special road section based on the fuzzy control can ensure that the throttle control of the vehicle conforms to the driving style and driving habit of a model driver, ensures the rationality and accuracy of the throttle opening of the vehicle, well controls the speed of the vehicle, effectively reduces the occurrence rate of traffic accidents, ensures that the vehicle speed has stronger rationality when the vehicle runs on the special road section, and has strong reference and practicability.
Although the present invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made thereto based on the present invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. An automatic throttle control method of a vehicle running on a special road section based on fuzzy control is characterized by comprising the following steps:
step 1, establishing a fuzzy control rule: acquiring and recording a speed v of a vehicle, a distance d between the vehicle and a front target vehicle and a throttle opening x corresponding to the speed v and the distance d when a model driver runs on a special road section in real time, and establishing and recording a corresponding relation among the speed v of the vehicle, the distance d between the vehicle and the front target vehicle and the throttle opening x corresponding to the speed v and the distance d; establishing a fuzzy control rule according to the corresponding relation among the speed v of the vehicle, the distance d between the vehicle and a front target vehicle and the opening x of the throttle valve;
the special road sections are intersections, sections with dense pedestrians or vehicles;
step 2, controlling the opening of the throttle valve:
substep 2a, fuzzy quantization: collecting the speed v of the vehicle, the distance d between the vehicle and a front target vehicle and the opening error e of a throttle valve when the vehicle runs on a special road section1And rate of change e of throttle opening error2And the speed v of the vehicle, the distance d between the vehicle and the front target vehicle and the error e of the opening degree of the throttle valve1And rate of change e of throttle opening error2As a fuzzy control input; and the speed v of the vehicle, the distance d between the vehicle and the front target vehicle and the error e of the opening degree of the throttle valve1And rate of change e of throttle opening error2Carrying out fuzzy quantization to obtain corresponding fuzzy input quantity;
substep 2b, fuzzy inference: carrying out fuzzy reasoning according to the fuzzy control rule to obtain a corresponding fuzzy output quantity; based on two fuzzy input quantities of the speed v of the vehicle and the distance d between the vehicle and a front target vehicle, carrying out fuzzy inference according to the fuzzy control rule to obtain a first fuzzy output quantity; based on the error e of the opening of the throttle valve1And rate of change e of throttle opening error2The two fuzzy input quantities are subjected to fuzzy reasoning according to the fuzzy control rule to obtain a second fuzzy output quantity;
substep 2c, fuzzy decision: carrying out fuzzy judgment on the first fuzzy output quantity and the second fuzzy output quantity to correspondingly obtain a first fuzzy control output quantity u1And a second fuzzy control output u2；
Substep 2d, combining fuzzy control output quantity: the first fuzzy control output quantity u1And a second fuzzy control output u2Merging according to a merging rule to obtain the opening state quantity of the throttle valveU；
And a substep 2e, controlling the state of the throttle opening by an actuator according to the throttle opening state quantity U by a control system of the vehicle.
2. The automatic throttle control method for vehicles traveling on special road sections based on fuzzy control as claimed in claim 1, wherein said special road sections are crossroads, pedestrian or vehicle dense road sections.
3. The automatic throttle control method for a vehicle traveling on a special section based on fuzzy control as set forth in claim 1, wherein in step 1, said correspondence relationship is a correspondence relationship between v +0.01d and throttle opening x.
4. The method as claimed in claim 1, wherein the throttle opening error e is determined in the sub-step 2a1Defined as { NB, NS, ZE, PS, PB }5 fuzzy subsets; the error change rate e of the throttle opening degree is calculated2Defined as { NB, NM, NS, ZE, PS, PM, PB }7 fuzzy subsets; defining the speed v of the vehicle as { ZE, S, M, L }4 fuzzy subsets; defining the distance d between the self vehicle and a front target vehicle as { NB, NS, ZN, ZE, ZP, PS, PB }7 fuzzy subsets;
wherein { NB, NS, ZE, PS, PB } represents a set of throttle opening errors consisting of 5 fuzzy subsets of negative big, negative small, zero, positive small, positive big; { NB, NM, NS, ZE, PS, PM, PB } represents a set of throttle opening error rates consisting of 7 fuzzy subsets, negative big, negative middle, negative small, zero, positive small, positive middle, positive big; { ZE, S, M, L } represents the set of speeds for the vehicle consisting of zero, small, medium, very large 4 fuzzy subsets; { NB, NS, ZN, ZE, ZP, PS, PB } represents the set of 7 fuzzy subsets negative big, negative small, zero, positive small, positive big, from the host vehicle to the target vehicle ahead.
5. Root of herbaceous plantThe method as claimed in claim 1, wherein in the substep 2a, ZMF, TRIMF and SMF functions are used to automatically control the throttle opening error e1Carrying out fuzzy quantization; rate of change e of throttle opening error using TRIMF function2Carrying out fuzzy quantization; carrying out fuzzy quantization on the speed v of the vehicle by adopting TRAPMF and TRIMF functions; and carrying out fuzzy quantization on the distance d between the self vehicle and the front target vehicle by adopting a TRIMF function.
6. The automatic throttle control method for vehicles traveling on special road sections based on fuzzy control as claimed in claim 1, wherein in the sub-step 2c, the first fuzzy control output u is outputted1And a second fuzzy control output u2Respectively defining as { JX, BC, ZD }3 fuzzy subsets;
where { JX, BC, ZD } represents a set of first and second fuzzy control outputs consisting of 3 fuzzy subsets of decrease, hold, and increase.
7. The method as claimed in claim 1, wherein in the sub-step 2d, the combination rule is U-Pu1+(1-P)u2Wherein P is 0.5 to 0.7.
8. The automatic throttle control method for vehicles traveling on special road sections based on fuzzy control as claimed in claim 1, wherein in step 1, said real-time acquisition is at least 10 hours.
9. The automatic throttle control method for vehicles traveling on special road sections based on fuzzy control as claimed in claim 1, wherein in step 1, the vehicle speed v of the vehicle is measured by a vehicle speed sensor, and the vehicle speed sensor is arranged on a transmission of the vehicle.
10. The automatic throttle control method for vehicles traveling on special road sections based on fuzzy control as claimed in claim 1, wherein in step 1, the distance d between the host vehicle and the front target vehicle is measured by using a laser scanning radar installed at the center of the front bumper of the host vehicle.
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|---|---|---|---|---|
| US6289874B1 (en) * | 2000-03-31 | 2001-09-18 | Borgwarner Inc. | Electronic throttle control |
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