A method for automatic driving of electric vehicles based on fuzzy controller
A technology of fuzzy controller and electric vehicle, applied in the direction of adaptive control, general control system, control/regulation system, etc., it can solve the problems of limited performance in restoring the driving environment, poor work performance, easy to reduce the response speed of the control system, etc., to achieve Conducive to the effect of fast response, easy assembly, and low software performance requirements
Active Publication Date: 2021-05-14
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
[0003] The automatic driving system based on vision or image has poor working performance in the dark or under certain conditions, and the performance of restoring the driving environment is limited. At the same time, the quality of the image processing algorithm is also one of the important reasons affecting the automatic driving system, which is easy to reduce the control system. response speed
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[0037] The present invention will be further described below in conjunction with specific examples.
[0038] Such as figure 1 The schematic diagram of the automatic driving radar assembly shown in the figure shows that the front side radar is installed on the front of the car, which is composed of two radars Fd1 and Fd2 placed next to the left and right headlights, and two sets of radars are added, respectively for the left side The radar group (including two radars Ld1, Ld2) and the right side radar group (including two radars Rd1, Rd2) are installed on the body above the four wheels of the electric vehicle, and the vehicle distance detected by the front side radar group is Fd. Fd=min{Fd1(k), Fd2(k)}, Fd1(k) and Fd2(k) are respectively the distance between vehicles detected by the two radars of the front side radar group in the kth cycle.
[0039] Let Ld1(k), Ld2(k), Ld1(k-1), and Ld2(k-1) be the obstacle distances detected by the left radar group at the k and k-1 sampling p...
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The invention discloses a method for automatic driving of an electric vehicle based on a fuzzy controller. In the method, on the basis of installing a front side radar group on the front of the vehicle, another two groups of radars and a fuzzy controller are added. The two groups of radars are respectively left and right The side radar group, each with two radars, is installed on the body above the four wheels of the car. The additional radar group helps to quickly identify the state of the lane and restore the driving environment in a variety of relatively harsh driving environments, ensuring the safety of the vehicle. and the safety of other driving vehicles, and the fuzzy controller used is based on the preset mathematical model of driving experience to fuzzify each driving environment, which can well simulate the driving habits of the driver, and at the same time use the fuzzy controller to control the central The operation speed of the controller is low, which can improve the rapidity of the system and is conducive to the rapid response of control decisions. The method of the invention can improve the rapidity of restoring the driving environment, reduce the risk, and thus improve the road traffic safety performance.
Description
technical field [0001] The invention relates to the technical field of electric vehicles, in particular to an automatic driving method for electric vehicles based on a fuzzy controller. Background technique [0002] Electric vehicles are one of the important directions of vehicle development at present. Electric motors have the advantages of fast response and good handling, and are becoming an important choice to replace traditional gasoline engines and diesel engines. In order to reduce human errors in driving, autonomous driving has become one of the important development directions of vehicle technology. The goal of automatic driving is to track and track the expected trajectory calculated by navigation, and control the vehicle through the tracked points to realize automatic driving, so as to reduce errors caused by human operation as much as possible. The complexity and variability of the driving environment requires the controlled vehicle to perform operations such as ...
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IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/042G05D1/021G05D1/0221
Inventor 吴志远刘俊峰罗飞曾君
Owner SOUTH CHINA UNIV OF TECH