Intelligent unmanned target vehicle distance control method based on fuzzy control

Abstract

The invention discloses an intelligent target vehicle distance control method based on fuzzy control. The method comprises the steps that a vehicle distance control system of the intelligent unmannedtarget vehicle is constructed; a fuzzy controller acquires a clear variable of the acceleration; an input and output curved surface graph of the fuzzy controller is drawn; a decision database of intelligent unmanned target vehicles to be controlled is established; parameters are initialized; each intelligent unmanned target vehicle collects the relative distance between the intelligent unmanned target vehicle and a front target vehicle; each intelligent unmanned target vehicle calculates the relative speed between the intelligent unmanned target vehicle and the front target vehicle; each intelligent unmanned target vehicle carries out actual decision making on acceleration; and each intelligent unmanned target vehicle obtains a vehicle distance control result. According to the invention, the defect of low control speed in the prior art is overcome, the control speed is increased, and the real-time performance of actual control is enhanced.

Description

technical field [0001] The invention belongs to the technical field of vehicle control, and relates to a vehicle distance control method for an intelligent unmanned target vehicle, in particular to a fuzzy control-based vehicle distance control method for an intelligent unmanned target vehicle, which can be used for motion control of a target vehicle in a training ground . Background technique [0002] In sports and military training, shooting is an indispensable item, and the target vehicle plays an important role. With the rapid development of science and technology, intelligent control units have been loaded on target vehicles, which has given birth to the emergence of intelligent unmanned target vehicles. In a training ground where multiple intelligent unmanned target vehicles are moving on the same path, in order to prevent collisions between intelligent unmanned target vehicles, it is necessary to keep a safe distance between them, and the response rules and response ...

AI Technical Summary

Problems solved by technology

At present, the distance control methods of the existing intelligent unmanned target vehicles are as follows: First, artificial wireless remote control is used, but the control range is limited, which wastes human resources

Second, the digital map control method is adopted, but the anti-interference ability is poor on roads with poor road conditions

Third, the PID control method is adopted, but for systems with nonlinear and uncertain models, the PID parameters are often difficult to tune, or even impossible to tune, resulting in slow control speed

However, the disadvantage of this method is that the distance between target vehicles is only used as the basis for controlling the motion state of the target vehicle, and it is temporarily compared with the pre-stored target vehicle distance threshold, and then the control command is sent, without considering the relative distance between the target vehicles. Speed, it is easy to cause unnecessary control commands to be sent frequently, and it only briefly explains the acceleration or deceleration of the control target vehicle, without giving accurate and reasonable acceleration, resulting in the disadvantage of slow control speed

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