Vehicle speed tracking fuzzy control method of vehicle robot driver

A technology of automobile driving and fuzzy control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc. It can solve problems such as difficult adjustment of regulator parameters, frequent vibration and switching of accelerator pedal, large fluctuation of vehicle speed, etc., to achieve real-time Good performance, improve the speed tracking control accuracy of the driving robot, and the effect of good driving performance

Inactive Publication Date: 2010-03-10
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of large vehicle speed fluctuations, difficult adjustment of regulator parameters, and too frequent vibration and switching of the accelerator pedal when the traditional PID control method is used for a car driving robot. A fuzzy control method for vehicle speed tracking with good real-time performance and strong anti-interference ability

Method used

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  • Vehicle speed tracking fuzzy control method of vehicle robot driver
  • Vehicle speed tracking fuzzy control method of vehicle robot driver
  • Vehicle speed tracking fuzzy control method of vehicle robot driver

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specific Embodiment approach

[0026] The car driving robot is a robot used to replace the driver in the car test, and it is a modern intelligent device in the car test. In order to realize the indoor simulation of the road, the test vehicle must be placed on the chassis dynamometer to simulate the straight road conditions, so as to provide a test environment for the car test and ensure the resistance loading characteristics of the chassis dynamometer to the test vehicle during the test operation It is consistent with the force of the vehicle when it is running on the road. like Figure 4 Shown is the structure diagram of the fuzzy control system of the car driving robot. The car driving robot system is mainly composed of shifting manipulator, throttle mechanical leg, brake mechanical leg, clutch mechanical leg, computer control system, electric drive system and other parts. The car driving robot adopts pure electric drive, so that the operation of the robot can have the quickness and suppleness of the mus...

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Abstract

The invention discloses a vehicle speed tracking fuzzy control method of a vehicle robot driver, comprising the following steps: (1) determining an input variable and an output variable of a fuzzy controller of the vehicle robot driver, and carrying out scale transformation on an actual input variable to lead the actual input variable to be transformed in a domain range; (2) using the fuzzy controller of the vehicle robot driver to carry out fuzzification on the actual input variable after scale transformation to obtain a fuzzy value, and using the fuzzy value to establish an input and outputvariable membership function; (3) establishing a fuzzy control rule of the vehicle robot driver based on a learning method of a driving experience knowledge base and measuring data; (4) using a fuzzyreasoning and a centroid defuzzification method to determine a fuzzy control table of the vehicle robot driver based on the input and output variable membership function and the fuzzy control rule; and (5) querying the fuzzy control table of the vehicle robot driver to perform online real-time control on the vehicle robot driver. The invention features good instantaneity, strong anti-interferenceability and fine vehicle speed tracking control precision.

Description

technical field [0001] The invention relates to a fuzzy control method for an automobile driving robot capable of realizing accurate tracking of a given target vehicle speed, and belongs to the technical field of automatic driving device control for automobile testing. Background technique [0002] Automobile testing is of great significance to the development of new products of automobiles, and the finalization of a new car model often requires a large number of experiments. However, many items in the automobile test are more suitable to be operated by robots due to their strong repeatability, long duration, high risk and harsh working environment. A car driving robot is an automated intelligent device that is used on a chassis dynamometer (or called a drum test bench) to replace a human driver for car tests. The rapid increase in the number of automobiles has made the pollution of automobile exhaust more and more serious. In order to protect the atmospheric environment, c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
Inventor 龚宗洋陈刚张为公李亭亭
Owner SOUTHEAST UNIV
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