Improved fuzzy-PID intelligent automobile automatic tracking method

An automatic tracking and smart car technology, which is applied in the field of smart car automatic road identification, automatic tracking, and fuzzy PID smart car automatic tracking, to achieve the effect of reducing the complexity of parameter adjustment, improving inaccuracy, and improving control sensitivity

Inactive Publication Date: 2018-05-18
HANGZHOU DIANZI UNIV
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Problems solved by technology

Make smart car driving s

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  • Improved fuzzy-PID intelligent automobile automatic tracking method
  • Improved fuzzy-PID intelligent automobile automatic tracking method
  • Improved fuzzy-PID intelligent automobile automatic tracking method

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Embodiment Construction

[0057] The present invention will be described in detail below in combination with specific embodiments.

[0058] A kind of improved fuzzy PID intelligent car automatic tracking method implementation flow that the present invention proposes is as follows image 3 shown. The method of the present invention comprises the following steps:

[0059] Step (1): Detect the deviation e of each smart car sensor sampling through the sensor, and calculate the change rate ec of the deviation through the deviation e. Through sensor signal collection, the deviation e1 of the smart car's deviation from the track is obtained. When a collection cycle ends, the second signal collection is performed to obtain the deviation e2. Then the deviation change rate ec1=e2-e1 at this time can be calculated. Similarly, the deviation e and deviation change rate ec of each subsequent sampling period can be obtained.

[0060] Step (2): Use fuzzy control to calculate the parameters of fuzzy PID. Since th...

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Abstract

The invention discloses an improved fuzzy-PID intelligent automobile automatic tracking method. According to the method, the position of an intelligent automobile on a road is detected by a sensor ofthe intelligent automobile, and the deviation amount of the intelligent automobile can also be measured by the sensor. When the intelligent automobile is in the middle of a road, the deviation (e) detected by the sensor is zero, and if the intelligent automobile goes farther away from the road, the deviation (e) becomes larger. When the speed that intelligent automobile leaves the road is zero, the deviation change rate (ec) detected by the sensor is zero. When the speed that intelligent automobile leaves the road is greater, the deviation change rate (ec) becomes larger. When the deviation (e) and the deviation change rate (ec) are calculated, the final PID value can be calculated under the assistance of fuzzy-PID algorithm. Compared with a common fuzzy-PID algorithm, the road informationcan be better represented in real time, and the driving becomes more fluent and accurate.

Description

technical field [0001] The invention relates to the technical field of automatic driving of smart cars, in particular to a method for automatic identification of roads and automatic tracking of smart cars, and proposes an improved fuzzy PID automatic tracking method for smart cars. Background technique [0002] The previous automatic tracking technology of smart cars often used the classic digital PID algorithm. With the increase of road complexity, fuzzy PID method is often used to detect the road, so as to judge the complexity of the road and the size of the deviation of the smart car from the road, and input the signal to the single chip microcomputer through the control algorithm. Therefore, the control system outputs the value of the corner, controls the corner size of the steering gear, and thus controls the automatic tracking of the smart car. [0003] The structure of the PID regulator is simple, and it is easy for engineers and technicians to understand and master....

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 韩顾稳颜成钢梅涛黄海亮张腾
Owner HANGZHOU DIANZI UNIV
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