Target moving body control methods, devices and related equipment

Abstract

The present disclosure provides a target mobile body control method, device, electronic device and computer-readable storage medium, the method comprising: determining the position deviation and heading deviation of the target mobile body relative to the target moving trajectory; determining the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to a position fuzzy rule table; determining the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to a heading fuzzy rule table; determining the target angle of the target mobile body according to the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, so as to control the movement of the target mobile body according to the target angle.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, and in particular to a target moving body control method, device and related equipment. Background Art

[0002] Unmanned driving technology has become a hot topic in various countries and has been put into trial operation in some regions. The framework of unmanned driving technology mainly includes environmental perception, positioning, planning and decision-making, and motion control. As the last link of unmanned driving, motion control directly determines the accuracy of the vehicle's tracking planning path and its driving stability, and also directly reflects the driving effect of the unmanned vehicle.

[0003] Therefore, a method that can accurately control the movement of unmanned vehicles is very important for unmanned driving technology.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure. Summary of the invention

[0005] The embodiments of the present disclosure provide a target moving body control method and device, an electronic device, and a computer-readable storage medium, which can determine a target turning angle of a target moving body to control the target moving body to move.

[0006] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0007] The disclosed embodiment proposes a target mobile body control method, including: determining the position deviation and heading deviation of the target mobile body relative to the target moving trajectory; determining the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to a position fuzzy rule table; determining the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to a heading fuzzy rule table; determining the target angle of the target mobile body according to the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, so as to control the movement of the target mobile body according to the target angle.

[0008] In some embodiments, the position deviation includes a lateral position deviation and a lateral deviation change value.

[0009] In some embodiments, the position control angle membership value of the position deviation control is determined according to a position fuzzy rule table, including: fuzzy processing the lateral position deviation to determine the position deviation membership value corresponding to the lateral position deviation; fuzzy processing the lateral deviation change value to determine the position deviation change membership value corresponding to the lateral deviation change value; and determining the position control angle membership value in the position fuzzy rule table according to the position deviation membership value and the position deviation change membership value.

[0010] In some embodiments, determining the position control membership of the position deviation to the position control angle membership value includes: fuzzy processing the lateral position deviation to determine the position deviation membership of the lateral position deviation to the position deviation membership value; fuzzy processing the lateral deviation change value to determine the position deviation change membership of the lateral deviation change value to the position deviation change membership value; determining the position control membership based on the position deviation membership and the position deviation change membership.

[0011] In some embodiments, the heading deviation includes a heading angle deviation and a heading angle deviation change value.

[0012] In some embodiments, the heading control angle membership value of the heading deviation control is determined according to a heading fuzzy rule table, including: fuzzy processing the heading angle deviation to determine the heading deviation membership value corresponding to the heading angle deviation; fuzzy processing the heading angle deviation change value to determine the heading deviation change membership value corresponding to the heading angle deviation change value; and determining the heading control angle membership value according to the heading deviation membership value and the heading deviation change membership value.

[0013] In some embodiments, determining the heading control membership of the heading deviation to the heading control angle membership value includes: fuzzy processing the heading angle deviation to determine the heading deviation membership of the heading deviation to the heading deviation membership value; fuzzy processing the heading deviation change value to determine the heading deviation change membership of the heading deviation change value to the heading deviation change membership value; determining the heading control membership based on the heading deviation membership and the heading deviation change membership.

[0014] In some embodiments, the heading control angle membership value includes a target heading control angle membership value, and the target heading control membership of the heading deviation to the target heading control angle membership value is determined by a target heading deviation membership and a target heading deviation change membership.

[0015] In some embodiments, determining the heading control membership according to the heading deviation membership and the heading deviation change membership includes: multiplying the target heading deviation membership by the target heading deviation change membership to determine the target heading control membership.

[0016] In some embodiments, the target angle of the target mobile body is determined based on the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, including: defuzzifying the position control angle membership value and the position control membership to determine the position control angle; defuzzifying the heading control angle membership value and the heading control membership to determine the heading control angle; and determining the target angle based on the position control angle and the heading control angle.

[0017] The embodiment of the present disclosure provides a target mobile body control device, which may include: a deviation determination module, a position control membership determination module, a heading control membership determination module, and a target turning angle determination module.

[0018] Wherein, the deviation determination module can be configured to determine the position deviation and heading deviation of the target mobile body relative to the target moving trajectory. The position control membership determination module can be configured to determine the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to the position fuzzy rule table. The heading control membership determination module can be configured to determine the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to the heading fuzzy rule table. The target angle determination module can be configured to determine the target angle of the target mobile body according to the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, so as to control the movement of the target mobile body according to the target angle.

[0019] An embodiment of the present disclosure proposes an electronic device, which includes: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement any of the target mobile body control methods described above.

[0020] The embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the target moving body control method as described in any one of the above items is implemented.

[0021] The embodiment of the present disclosure provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the target moving body control method.

[0022] The target moving body control method, device, electronic device and computer-readable storage medium provided by certain embodiments of the present disclosure, on the one hand, fuzzy processing is performed on the position deviation and heading deviation of the target moving body, and the position control angle membership value and position control membership degree of the position deviation control, and the heading control angle membership value and heading control membership degree of the heading deviation control are determined based on the position fuzzy rule table and the heading fuzzy rule table; on the other hand, a target angle that can consider both the position deviation and the heading deviation is determined by combining the position control angle membership value and position control membership degree of the position deviation control, and the heading control angle membership value and heading control membership degree. By controlling the movement of the target moving body through the target angle, the target moving body can better track the target movement trajectory.

[0023] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. The drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work.

[0025] Figure 1 A schematic diagram showing an exemplary system architecture of a target moving body control method or a target moving body control device applied to an embodiment of the present disclosure is shown.

[0026] Figure 2 It is a structural diagram of a computer system applied to a target mobile object control device according to an exemplary embodiment.

[0027] Figure 3 The figure is a flow chart of a target moving body control method according to an exemplary embodiment.

[0028] Figure 4 The diagram is a schematic diagram showing a method of tracking a target moving object according to an exemplary embodiment.

[0029] Figure 5 yes Figure 3Flowchart of step S2 in an exemplary embodiment.

[0030] Figure 6 yes Figure 3 Flowchart of step S3 in an exemplary embodiment.

[0031] Figure 7 A method for controlling a target moving object is shown according to an exemplary embodiment.

[0032] Figure 8 The invention is a block diagram of a target moving object control device according to an exemplary embodiment. DETAILED DESCRIPTION

[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0034] The features, structures or characteristics described in the present disclosure may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

[0035] The accompanying drawings are only schematic diagrams of the present disclosure, and the same reference numerals in the drawings represent the same or similar parts, so their repeated description will be omitted. Some block diagrams shown in the accompanying drawings do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0036] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and steps, nor must they be executed in the order described. For example, some steps can be decomposed, and some steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0037] In this specification, the terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0038] The exemplary embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0039] Figure 1 The schematic diagram shows an exemplary system architecture that can be applied to the target moving body control method or the target moving body control device according to the embodiments of the present disclosure.

[0040] like Figure 1 As shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 is used to provide a medium for communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0041] Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to receive or send messages, etc. Terminal devices 101, 102, 103 can be various electronic devices with display screens and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, wearable devices, virtual reality devices, smart homes, etc.

[0042] The server 105 may be a server that provides various services, such as a background management server that provides support for devices operated by users using the terminal devices 101, 102, and 103. The background management server may analyze and process the received request data, and feed back the processing results to the terminal device.

[0043] The server 105 can, for example, determine the position deviation and heading deviation of the target mobile body relative to the target moving trajectory; the server 105 can, for example, determine the position control angle membership value of the position deviation control according to the position fuzzy rule table, and the position control membership corresponding to the position control angle membership value; the server 105 can, for example, determine the heading control angle membership value of the heading deviation control according to the heading fuzzy rule table, and the heading control membership corresponding to the heading control angle membership value; the server 105 can, for example, determine the target angle of the target mobile body according to the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, so as to control the movement of the target mobile body according to the target angle.

[0044] It should be understood that Figure 1 The number of terminal devices, networks and servers in the figure is only for illustration. The server 105 may be a physical server or may be composed of multiple servers. According to actual needs, it may have any number of terminal devices, networks and servers.

[0045] Reference below Figure 2 , which shows a schematic diagram of the structure of a computer system 200 of a terminal device suitable for implementing an embodiment of the present application. Figure 2 The terminal device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0046] like Figure 2 As shown, the computer system 200 includes a central processing unit (CPU) 201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 202 or a program loaded from a storage part 208 into a random access memory (RAM) 203. In the RAM 203, various programs and data required for the operation of the system 200 are also stored. The CPU 201, the ROM 202, and the RAM 203 are connected to each other via a bus 204. An input / output (I / O) interface 205 is also connected to the bus 204.

[0047] The following components are connected to the I / O interface 205: an input section 206 including a keyboard, a mouse, etc.; an output section 207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 208 including a hard disk, etc.; and a communication section 209 including a network interface card such as a LAN card, a modem, etc. The communication section 209 performs communication processing via a network such as the Internet. A drive 210 is also connected to the I / O interface 205 as needed. A removable medium 211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 210 as needed, so that a computer program read therefrom is installed into the storage section 208 as needed.

[0048] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 209, and / or installed from a removable medium 211. When the computer program is executed by the central processing unit (CPU) 201, the above-mentioned functions defined in the system of the present application are executed.

[0049] It should be noted that the computer-readable storage medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable storage medium other than a computer-readable storage medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0050] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0051] The modules and / or units and / or sub-units involved in the embodiments of the present application may be implemented in software or in hardware. The modules and / or units and / or sub-units described may also be arranged in a processor, for example, may be described as: a processor includes a sending unit, an acquiring unit, a determining unit and a first processing unit. The names of these modules and / or units and / or sub-units do not, in some cases, constitute limitations on the modules and / or units and / or sub-units themselves.

[0052] As another aspect, the present application also provides a computer-readable storage medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed by a device, the device can realize functions including: determining the position deviation and heading deviation of the target moving body relative to the target moving trajectory; determining the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to the position fuzzy rule table; determining the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to the heading fuzzy rule table; determining the target angle of the target moving body according to the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, so as to control the movement of the target moving body according to the target angle.

[0053] Figure 3 is a flow chart of a target moving body control method according to an exemplary embodiment. The method provided by the embodiment of the present disclosure can be processed by any electronic device with computing and processing capabilities, such as the above Figure 1 The server 105 and / or terminal devices 102 and 103 in the embodiment are described by taking the server 105 as the execution subject in the following embodiment, but the present disclosure is not limited to this.

[0054] Reference Figure 3 The target moving body control method provided by the embodiment of the present disclosure may include the following steps.

[0055] In step S1 , the position deviation and the heading deviation of the target moving object relative to the target moving trajectory are determined.

[0056] In some embodiments, the target moving object may refer to any movable device that needs to be tracked, for example, an unmanned vehicle, an unmanned delivery vehicle, a robot, etc.

[0057] It is understandable that the present disclosure will take the target moving object as an unmanned vehicle as an example to illustrate the embodiments, but the present disclosure is not limited to this.

[0058] Generally speaking, the motion control of an unmanned vehicle can be divided into lateral control and longitudinal control. The goal of lateral control is to track the planned path so that its lateral position deviation and heading angle deviation are as small as possible.

[0059] like Figure 4 As shown, in the target coordinate system (such as the global coordinate system or the vehicle coordinate system, etc.), the center of the rear axle c (x c ,y c ) is the vehicle reference point. Based on the current heading of the driverless car, the rear axle center c is projected onto the planned trajectory (i.e., the target moving trajectory) to obtain the projection to p(x p’ ,y p’ ), the lateral position deviation can be the lateral position deviation Δp between the vehicle reference point c and the projection point p, and the heading angle deviation Δψ can be the difference between the vehicle heading angle and the heading angle of the projection point. In the target coordinate system, the lateral position deviation Δp=(y p -y c )cosψ-(x p -x c )sinψ, heading angle deviation Δψ=Δψ p -Δψ c .

[0060] In some embodiments, the lateral deviation may include the above-mentioned lateral position deviation, and may also include a lateral deviation change value, and may also include a lateral deviation change rate. It can be understood that any position data obtained by the above-mentioned lateral position deviation may be the lateral deviation in this embodiment.

[0061] The lateral deviation change value may refer to the difference between the lateral position deviation at the current moment and the lateral position deviation at the previous moment, and the lateral deviation change rate may refer to the change rate of the lateral position deviation at the current moment relative to the lateral position deviation at the previous moment.

[0062] In some embodiments, the heading deviation may include the above-mentioned heading angle deviation, and may also include a heading deviation change value, and may also include a heading deviation change rate. It can be understood that any heading data obtained by calculating the above-mentioned heading angle deviation can be the heading deviation in this embodiment.

[0063] Among them, the heading deviation change value may refer to the difference between the heading angle deviation at the current moment and the heading angle deviation at the previous moment, and the heading deviation change rate may refer to the change rate of the heading angle deviation at the current moment relative to the heading angle deviation at the previous moment.

[0064] In step S2, the position control angle membership value of the position deviation control and the position control membership degree corresponding to the position control angle membership value are determined according to the position fuzzy rule table.

[0065] In some embodiments, the position fuzzy rule table may refer to a fuzzy rule table between the lateral deviation of the target mobile body and the turning angle of the target mobile body. The position fuzzy rule table may give fuzzy rules between the fuzzy linguistic variables of the lateral deviation and the fuzzy linguistic variables of the turning angle. The fuzzy rules may be, for example, "if the lateral deviation is A, then the turning angle is B" etc.

[0066] In some embodiments, after the specific numerical value of the lateral deviation is determined, the lateral deviation may be fuzzified to determine the target position membership value corresponding to the lateral deviation (ie, the fuzzy linguistic variable corresponding to the lateral deviation).

[0067] In some embodiments, after the target position membership value is determined, the position control angle membership value and the corresponding position control membership degree corresponding to the target position membership value can be determined according to the above position fuzzy rule table. For example, it is known that a rule in the position fuzzy rule table is "if the lateral deviation is A, the angle is B", if the target position membership value determined according to the lateral deviation is A, then according to the above position fuzzy rule table, the position control angle membership value can be determined to be B.

[0068] In step S3, the heading control angle membership value of the heading deviation control and the heading control membership degree of the heading deviation to the heading control angle membership value are determined according to the heading fuzzy rule table.

[0069] In some embodiments, the heading fuzzy rule table may refer to a fuzzy rule table between heading deviation and turning angle, and the heading fuzzy rule table may provide fuzzy rules between fuzzy linguistic variables of heading deviation and fuzzy linguistic variables of turning angle.

[0070] In some embodiments, after the heading deviation is determined, the heading deviation may be fuzzified to determine a target heading membership value corresponding to the heading deviation.

[0071] In some embodiments, after the target heading membership value is determined, the heading control angle membership value and the corresponding heading control membership degree corresponding to the target heading membership value can be determined according to the heading fuzzy rule table. For example, it is known that a rule in the heading fuzzy rule table is "if the heading deviation is C, the angle is D", if the target heading membership value determined according to the heading deviation is C, then according to the heading fuzzy rule table, the heading control angle membership value can be determined to be D.

[0072] In step S4, the target angle of the target mobile body is determined according to the position control angle membership value, the position control membership degree, the heading control angle membership value and the heading control membership degree, so as to control the movement of the target mobile body according to the target angle.

[0073] In some embodiments, the position control angle membership value and the position control membership degree may be defuzzified to determine the position control angle; then the heading control angle membership value and the heading control membership degree may be defuzzified to determine the heading control angle; finally, the target angle may be determined based on the position control angle and the heading control angle.

[0074] In some embodiments, the defuzzification process may adopt the centroid method, the maximum membership method, the median method, etc., which is not limited in the present disclosure.

[0075] The technical solution provided in this embodiment, on the one hand, performs fuzzy processing on the position deviation and heading deviation of the target mobile body, and determines the position control angle membership value and position control membership degree of the position deviation control, and the heading control angle membership value and heading control membership degree of the heading deviation control respectively based on the position fuzzy rule table and the heading fuzzy rule table; on the other hand, combining the position control angle membership value and position control membership degree of the position deviation control, and the heading control angle membership value and heading control membership degree, determines a target angle that can consider both the position deviation and the heading deviation. By controlling the movement of the target mobile body through the target angle, the target mobile body can better track the target movement trajectory.

[0076] Figure 5 yes Figure 3 Flowchart of step S2 in an exemplary embodiment.

[0077] In some embodiments, the position deviation of the target moving object may include a lateral position deviation and a lateral deviation change value of the target moving object relative to the target moving trajectory.

[0078] refer to Figure 5 , the above Figure 3 Step S2 in may include the following steps.

[0079] In step S21, fuzzy processing is performed on the lateral position deviation to determine a position deviation membership value corresponding to the lateral position deviation and a position deviation membership degree of the lateral position deviation to the position deviation membership value.

[0080] Fuzzy processing is the process of converting the input definite value into the corresponding fuzzy linguistic variable value.

[0081] In some embodiments, the fuzzy language variables in the fuzzy rule base may include {NB, NM, NS, ZO, PS, PM, PB}, where NB represents negative big, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive big. It is understandable that different rule bases may include different fuzzy language variables, and the present disclosure does not limit this.

[0082] In some embodiments, the lateral position deviation can be fuzzy processed by a first membership function to determine the position deviation membership value and position deviation membership corresponding to the lateral position deviation. The first membership function can refer to a triangular membership function, a trapezoidal membership function, etc., which is not limited in the present disclosure.

[0083] For example, assuming that the lateral position deviation of the target moving object is 12, the domain of the lateral position deviation is [-15,15], and its corresponding fuzzy set is {NB Δp 、NM Δp NS Δp , ZO Δp ,PS Δp 、PM Δp PB Δp}, the corresponding values ​​of the fuzzy set are {-15, -10, -5, 0, 5, 10, 15}, then the position deviation membership value and position deviation membership degree corresponding to the lateral deviation can be determined by the following method.

[0084] Determine the lateral position deviation 12 in 10 (ie PM Δp ) and 15 (i.e. PB Δp ), so the lateral position deviation 12 can also belong to the position deviation membership value PM Δp and PB Δp Among them, the lateral position deviation 12 belongs to the position deviation membership value PM Δp The position deviation membership is (12-10) / (15-10)=3 / 5, and the lateral position deviation 12 belongs to the position deviation membership value PB Δp The position deviation membership is (15-12) / (15-10) = 3 / 5. This means that the lateral position deviation of 12 is far from PM Δp and PB Δp The closer one is, the greater the degree of membership it belongs to.

[0085] In step S22, fuzzy processing is performed on the lateral deviation change value to determine the position deviation change membership value corresponding to the lateral deviation change value and the position deviation change membership degree of the lateral deviation change value to the position deviation change membership value.

[0086] In some embodiments, the lateral deviation change value can be fuzzy processed by a second membership function to obtain a position deviation change membership value and a position deviation change membership corresponding to the lateral deviation change value. The second membership function can refer to a triangular membership function, a trapezoidal membership function, etc., which is not limited in the present disclosure.

[0087] For example, assuming that the lateral deviation change value of the target moving body is 0, the domain of the lateral deviation change value is [-8,8], and its corresponding fuzzy set is {NB Δp’ NS Δp’ , ZO Δp’ ,PS Δp’ PB Δp’}, the corresponding value of the fuzzy set is {-8, -4, 0, 4, 8}, then it can be determined that the lateral deviation change value 0 can belong to the position deviation change membership value ZO Δp’ , and the corresponding position deviation change membership is 1.

[0088] In step S23, the position control angle membership value is determined in the position fuzzy rule table according to the position deviation membership value and the position deviation change membership value.

[0089] In some embodiments, a fuzzy rule table between position deviation membership values, position deviation change membership values ​​and rotation angle membership values ​​(referred to as a position fuzzy rule table in this embodiment) can be determined based on expert experience.

[0090] Table 1 is a position fuzzy rule table shown according to an exemplary embodiment.

[0091] Table 1

[0092]

[0093]

[0094] When the position deviation membership value (such as PB Δp ) and position deviation change membership value (such as NB Δp' ) is determined, the position control angle membership value (such as PS p_δ ).

[0095] Among them, determining the fuzzy rule table between the position deviation membership value, the position deviation change membership value and the rotation angle membership value according to expert experience may include the following steps.

[0096] Step 1: Set the fuzzy set of the target moving body’s turning angle. For example, assuming that the domain of the target moving body’s turning angle output is [-25, 25] degrees, its fuzzy set is {NB δ 、NM δ NSδ , ZO δ ,PS δ 、PM δ PB δ}, and the corresponding values ​​of the fuzzy set are {-25,-15,-5,0,5,15,25}, where negative values ​​represent right turns and positive values ​​represent left turns.

[0097] Step 2: Obtain sample points based on expert experience. The sample points may include the corresponding relationship between the position deviation membership value, the position deviation change membership value, and the position control angle membership value. For example, the sample points may be (PM Δp , ZO Δp' , PM p_δ ), that is, when the position deviation membership value is PM Δp , the position deviation change membership value is ZO Δp' When the position control angle membership value is PM p_δ .

[0098] Step 3: Determine the rules between the position deviation membership value, position deviation change membership value and position control angle membership value based on the expert sample points. If there are 100 sample points, then 100 rules can be obtained.

[0099] Step 4: Calculate the confidence of each rule, remove the rules whose confidence is lower than the target threshold, and generate the above position control rule table according to the rules whose confidence is higher than or equal to the target threshold.

[0100] In step S24, the position control membership is determined according to the position deviation membership and the position deviation change membership.

[0101] In some embodiments, assuming that the position control angle membership value includes a target position control angle membership value, the target position control membership of the position deviation being subordinate to the target position control angle membership value is determined by the target position deviation membership and the target position deviation change membership. Then, the position deviation membership and the position deviation change membership can be multiplied to determine the target position control membership.

[0102] The technical solution provided in this embodiment determines the position deviation membership value and its corresponding position deviation membership by fuzzifying the lateral position deviation; determines the position deviation change membership value and its corresponding position deviation change membership by fuzzifying the lateral deviation change value; and then determines the position control angle membership value and the position control membership corresponding to the position deviation membership value and the position deviation change membership value according to the position fuzzy rule table. The above method processes the lateral position deviation and the position deviation change value through fuzzy rules to determine the position control angle membership value related to the position deviation and its corresponding position control membership.

[0103] Figure 6 yes Figure 3 Flowchart of step S3 in an exemplary embodiment.

[0104] In some embodiments, the heading deviation of the target mobile object may include a heading angle deviation and a heading angle deviation change value of the target mobile object relative to the target moving trajectory.

[0105] refer to Figure 6 , the above Figure 3 Step S3 in may include the following steps.

[0106] In step S31, fuzzy processing is performed on the heading angle deviation to determine a heading deviation membership value corresponding to the heading angle deviation and a heading deviation membership degree at which the heading angle deviation belongs to the heading deviation membership value.

[0107] In some embodiments, the heading angle deviation may be fuzzy processed by a third membership function to determine the heading deviation membership value and heading deviation membership corresponding to the heading angle deviation. The third membership function may refer to a triangular membership function, a trapezoidal membership function, etc., which is not limited in the present disclosure.

[0108] For example, assuming that the heading angle deviation of the target moving object is 2, the domain of the heading angle deviation is [-15,15], and its corresponding fuzzy set is {NB Δψ NS Δψ , ZO Δψ ,PS Δψ PB Δψ}, the corresponding value of the fuzzy set is {-15, -7, 0, 7, 15}, then the heading deviation membership value and heading deviation membership degree corresponding to the heading angle deviation can be determined by the following method.

[0109] Determine the heading angle deviation 2 is 0 (i.e. ZO Δψ ) and 7 (i.e. PS Δψ ), so the heading angle deviation 2 can also belong to the heading deviation membership value ZO Δψ and PS Δψ Among them, the heading angle deviation 2 belongs to the heading deviation membership value ZO Δψ The heading deviation membership is (2-0) / (7-0)=2 / 7, and the heading angle deviation 2 belongs to the heading deviation membership value PS Δψ The heading deviation membership is (7-2) / (7-0)=5 / 7.

[0110] In step S32, fuzzy processing is performed on the heading angle deviation change value to determine the heading deviation change membership value corresponding to the heading angle deviation change value and the heading deviation change membership degree of the heading deviation change value to the heading deviation change membership value.

[0111] In some embodiments, the heading deviation change value may be fuzzy processed by a fourth membership function to obtain a heading deviation change membership value and a heading deviation change membership corresponding to the heading deviation change value. The fourth membership function may refer to a triangular membership function, a trapezoidal membership function, etc., which is not limited in the present disclosure.

[0112] For example, assuming that the heading deviation change value of the target moving object is 0, the domain of the heading deviation change value is [-10,10], and its corresponding fuzzy set is {NB Δψ' NS Δψ' , ZO Δψ' ,PS Δψ' PB Δψ'}, the corresponding value of the fuzzy set is {-10, -5, 0, 5, 10}, then it can be determined that the heading deviation change value 0 can belong to the heading deviation change membership value ZO Δψ' , and the corresponding heading deviation change membership is 1.

[0113] In step S33, the heading control angle membership value is determined according to the heading deviation membership value and the heading deviation change membership value.

[0114] In some embodiments, a fuzzy rule table between the heading deviation membership value, the heading deviation change membership value and the turning angle membership value (referred to as a heading fuzzy rule table in this embodiment) can be determined based on expert experience.

[0115] Table 2 is a heading fuzzy rule table according to an exemplary embodiment.

[0116] Table 2

[0117]

[0118] When the heading deviation membership value (such as PB Δψ ) and heading deviation change membership value (such as PB Δψ' ) is determined, the heading control angle membership value (such as PB ψ_δ ).

[0119] Among them, determining the fuzzy rule table between the heading deviation membership value, the heading deviation change membership value and the turning angle membership value according to expert experience may include the following steps.

[0120] Step 1: Set the fuzzy set of the target moving body’s turning angle. Assume that the domain of the output turning angle is [-25, 25] degrees, and its fuzzy set is {NB δ 、NM δ NS δ , ZO δ ,PS δ 、PM δ PB δ}, and the corresponding values ​​of the fuzzy set are {-25,-15,-5,0,5,15,25}, where negative values ​​represent right turns and positive values ​​represent left turns.

[0121] Step 2: Obtain sample points based on expert experience. The sample points may include the corresponding relationship between the heading deviation membership value, the heading deviation change membership value, and the heading control angle membership value. For example, the sample point may be (PB Δψ , P.B. Δψ' , P.B. ψ_δ ), that is, when the heading deviation membership value is PB Δψ , the heading deviation change membership value is PB Δψ' When the heading control angle membership value is PB ψ_δ .

[0122] Step 3: Determine the rules between the heading deviation membership value, the heading deviation change membership value and the heading control angle membership value based on the expert sample points. If there are 100 sample points, then 100 rules can be obtained.

[0123] Step 4: Calculate the confidence of each rule, remove the rules whose confidence is lower than the target threshold, and generate the above heading control rule table according to the rules whose confidence is higher than or equal to the target threshold.

[0124] In step S34, the heading control membership is determined according to the heading deviation membership and the heading deviation change membership.

[0125] In some embodiments, assuming that the heading control angle membership value includes a target heading control angle membership value, the target heading control membership degree of the heading deviation being subordinate to the target heading control angle membership value is determined by the target heading deviation membership degree and the target heading deviation change membership degree. Then, the target heading deviation membership degree can be multiplied by the target heading deviation change membership degree to determine the target heading control membership degree.

[0126] The technical solution provided in this embodiment determines the heading deviation membership value and its corresponding heading deviation membership by fuzzy processing the heading angle deviation; determines the heading deviation change membership value and its corresponding heading deviation change membership by fuzzy processing the heading deviation change value; and then determines the heading control angle membership value and the heading control membership corresponding to the heading deviation membership value and the heading deviation change membership value according to the heading fuzzy rule table. The above method processes the heading deviation and the heading deviation change value through fuzzy rules to determine the heading control angle membership value related to the heading deviation and its corresponding heading control membership.

[0127] Figure 7 The figure is a control structure diagram of a target moving object according to an exemplary embodiment.

[0128] refer to Figure 7 , the control of the target moving object can be achieved through the following steps.

[0129] In step S71, a planned trajectory for the target moving object is obtained so as to control the target moving object to track the planned trajectory for movement.

[0130] In step S72, the current body posture of the unmanned vehicle is obtained.

[0131] In step S73, based on the planned trajectory and the current body position of the unmanned vehicle, the lateral position deviation, lateral deviation change value, heading angle deviation and heading deviation change value of the current motion trajectory of the unmanned vehicle relative to the planned trajectory are determined.

[0132] In step S74, the heading deviation change value of the unmanned vehicle is fuzzified according to the heading deviation change fuzzy set to determine the heading deviation change membership value and the heading deviation change membership degree corresponding to the heading deviation change value.

[0133] In step S75, the heading angle deviation of the target mobile body is fuzzified according to the heading deviation fuzzy set to determine the heading deviation membership value and heading deviation membership degree corresponding to the heading angle deviation.

[0134] In step S76, the heading control angle membership value corresponding to the heading deviation membership value and the heading deviation change membership value is determined based on the heading fuzzy rule table, and the heading control membership is determined based on the heading deviation membership and the navigation deviation change membership.

[0135] In step S77, the lateral position deviation of the unmanned vehicle is fuzzified according to the position deviation fuzzy set to determine the position deviation membership value and position deviation membership degree corresponding to the lateral position deviation.

[0136] In step S78, the position deviation change value of the unmanned vehicle is fuzzified according to the position deviation change fuzzy set to determine the position deviation change membership value and the position deviation change membership degree corresponding to the position deviation change value.

[0137] In step S79, the position control angle membership value corresponding to the position deviation membership value and the position deviation change membership value is determined based on the position fuzzy rule table, and the position control membership is determined based on the position deviation membership and the position deviation change membership.

[0138] In step S710, the position control angle membership value and the position control membership degree are defuzzified to determine the position control angle; the heading control angle membership value and the heading control membership degree are defuzzified to determine the heading control angle; and the target angle is determined based on the position control angle and the heading control angle.

[0139] In some embodiments, the target rotation angle may be obtained according to formula (1).

[0140]

[0141] Among them, μ Δpi is the i-th position deviation membership (because a lateral position deviation may belong to different position deviation values ​​with different position deviation memberships), μ △p′i is the i-th position deviation change membership, p_δi is the angle output value corresponding to the i-th position control angle membership value (for example, if the position control angle membership value is PB ψ_δ , then the PB ψ_δ The corresponding angle output value can be 25), μ ΔΨi is the i-th heading deviation membership, μ ΔΨ，i is the i-th heading deviation change membership, Ψ_δi is the angle output value corresponding to the i-th heading control angle membership value (for example, if the position control angle membership value is PM ψ_δ , then the PM ψ_δ The corresponding angle output value can be 15).

[0142] For example, suppose the lateral position deviation of the unmanned vehicle is 12, the position deviation change value is 0, the heading angle deviation is 2, and the heading deviation change value is 0.

[0143] according to Figure 5 In the embodiment shown, the lateral position deviation 12 can be assigned to the position deviation assignment value PM Δp and PB Δp , position deviation membership value PM Δp The corresponding position deviation membership is PB Δp_mf is 2 / 5, position deviation membership value PBΔp The corresponding position deviation membership PM Δp_mf It is 3 / 5.

[0144] according to Figure 5 In the embodiment shown, the position deviation change value 0 may be subordinate to the position deviation change subordinate value Z0. Δp’ , and the position deviation changes the membership value ZO Δp’ The corresponding position deviation change membership ZO Δp'_mf is 1

[0145] according to Figure 6 In the embodiment shown, the heading angle deviation 2 can also belong to the heading deviation membership value Z0 Δψ and PS Δψ , heading deviation membership value ZO Δψ The corresponding heading deviation membership ZO Δψ_mf is 2 / 7, the heading deviation membership value PS Δψ The corresponding heading deviation membership PS Δψ_mf It is 3 / 7.

[0146] according to Figure 6 In the embodiment shown, the heading deviation change value 0 may be subordinate to the heading deviation change membership value Z0. Δψ' , and the corresponding heading deviation change membership ZO Δψ'_mf is 1.

[0147] According to the position fuzzy rule table shown in Table 1, the position deviation membership value PM can be determined Δp and position deviation change membership value ZO Δp’ The corresponding position control angle membership value is PM p_δ , can determine the position deviation membership value and PB Δp and position deviation change membership value ZO Δp’ The corresponding position control angle membership value is PB p_δ , PM can be determined based on the domain of the angle set in advance p_δ and PB p_δ The corresponding output values ​​are 15 and 25 respectively.

[0148] In some embodiments, the position control angle membership value PB can be determined according to formula (2) and formula (3) p_δ The corresponding position control membership PM p_δ_mf and PB p_δ The corresponding position control membership PB p_δ_mf .

[0149] PM p_δ_mf =PM Δp_mf ×ZO Δp'_mf (2)

[0150] PB p_δ_mf =PB Δp_mf ×ZO Δp'_mf (3)

[0151] According to the heading fuzzy rule table shown in Table 2, the heading deviation membership value ZO can be determined Δψ And heading deviation change membership ZO Δψ'_mf The corresponding heading control angle membership value is ZO ψ_δ , the heading deviation membership value PS can be determined Δψ And heading deviation change membership ZO Δψ'_mf The corresponding heading control angle membership value is PS ψ_δ , ZO can be determined based on the domain of the angle set in advance ψ_δ and PS ψ_δ The corresponding output values ​​are 0 and 5 respectively.

[0152] In some embodiments, the heading control angle membership value ZO can be determined according to formula (4) and formula (5). ψ_δ The corresponding heading control membership ZO ψ_δ_mf and PS ψ_δ The corresponding heading control membership PS ψ_δ_mf .

[0153] PS ψ_δ_mf =PS Δψ_mf ×ZO Δψ'_mf (4)

[0154] ZO ψ_δ_mf =ZO Δψ_mf ×ZO Δψ'_mf (5)

[0155] In some embodiments, the target rotation angle can be determined by substituting the above parameters into formula (1).

[0156] In step S711, the unmanned vehicle is controlled to move according to the target turning angle.

[0157] The technical solution provided in this embodiment, on the one hand, performs fuzzy processing on the position deviation and heading deviation of the target mobile body, and determines the position control angle membership value and position control membership degree of the position deviation control, and the heading control angle membership value and heading control membership degree of the heading deviation control respectively based on the position fuzzy rule table and the heading fuzzy rule table; on the other hand, combining the position control angle membership value and position control membership degree of the position deviation control, and the heading control angle membership value and heading control membership degree, determines a target angle that can consider both the position deviation and the heading deviation. By controlling the movement of the target mobile body through the target angle, the target mobile body can better track the target movement trajectory.

[0158] Figure 8 is a block diagram of a target moving body control device according to an exemplary embodiment. Figure 8 The target moving body control device 800 provided in the embodiment of the present disclosure may include: a deviation determination module 801, a position control membership determination module 802, a heading control membership determination module 803 and a target turning angle determination module 804.

[0159] Among them, the deviation determination module 801 can be configured to determine the position deviation and heading deviation of the target mobile body relative to the target moving trajectory. The position control membership determination module 802 can be configured to determine the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to the position fuzzy rule table. The heading control membership determination module 803 can be configured to determine the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to the heading fuzzy rule table. The target angle determination module 804 can be configured to determine the target angle of the target mobile body according to the position control angle membership value, the position control membership, the heading control angle membership value and the heading control membership, so as to control the movement of the target mobile body according to the target angle.

[0160] In some embodiments, the position deviation includes a lateral position deviation and a lateral deviation change value.

[0161] In some embodiments, the position control membership determination module 802 may include: a position deviation membership value determination unit, a position deviation change membership value determination unit, and a position control rotation angle membership value determination unit.

[0162] The position deviation membership value determination unit may be configured to perform fuzzy processing on the lateral position deviation to determine the position deviation membership value corresponding to the lateral position deviation. The position deviation change membership value determination unit may be configured to perform fuzzy processing on the lateral deviation change value to determine the position deviation change membership value corresponding to the lateral deviation change value. The position control angle membership value determination unit may be configured to determine the position control angle membership value in the position fuzzy rule table according to the position deviation membership value and the position deviation change membership value.

[0163] In some embodiments, the position control membership determination module 802 may include: a position deviation membership determination unit, a position deviation change membership determination unit, and a position control membership determination unit.

[0164] The position deviation membership determination unit may be configured to perform fuzzy processing on the lateral position deviation to determine the position deviation membership of the lateral position deviation to which the position deviation belongs. The position deviation change membership determination unit may be configured to perform fuzzy processing on the lateral deviation change value to determine the position deviation change membership of the lateral deviation change value to which the position deviation change value belongs. The position control membership determination unit may be configured to determine the position control membership based on the position deviation membership and the position deviation change membership.

[0165] In some embodiments, the heading deviation includes a heading angle deviation and a heading angle deviation change value.

[0166] In some embodiments, the heading control membership determination module 803 may include: a heading deviation membership value determination unit, a heading deviation change membership value determination unit, and a heading control angle membership value determination unit.

[0167] Wherein, the heading deviation membership value determination unit may be configured to perform fuzzy processing on the heading angle deviation to determine the heading deviation membership value corresponding to the heading angle deviation. The heading deviation change membership value determination unit may be configured to perform fuzzy processing on the heading angle deviation change value to determine the heading deviation change membership value corresponding to the heading angle deviation change value. The heading control angle membership value determination unit may be configured to determine the heading control angle membership value according to the heading deviation membership value and the heading deviation change membership value.

[0168] In some embodiments, the heading control membership determination module 803 may include: a heading deviation membership determination unit, a heading deviation change membership determination unit, and a heading control membership determination unit.

[0169] Wherein, the heading deviation membership determination unit may be configured to perform fuzzy processing on the heading deviation, and determine the heading deviation membership of the heading deviation being subordinate to the heading deviation membership value. The heading deviation change membership determination unit may be configured to perform fuzzy processing on the heading deviation change value, and determine the heading deviation change membership of the heading deviation change value being subordinate to the heading deviation change membership value. The heading control membership determination unit may be configured to determine the heading control membership according to the heading deviation membership and the heading deviation change membership.

[0170] In some embodiments, the heading control angle membership value includes a target heading control angle membership value, and the target heading control membership of the heading deviation to the target heading control angle membership value is determined by a target heading deviation membership and a target heading deviation change membership.

[0171] In some embodiments, the heading deviation change membership determination unit includes: a multiplication subunit.

[0172] The multiplication subunit may be configured to multiply the target heading deviation membership by the target heading deviation change membership to determine the target heading control membership.

[0173] In some embodiments, the target angle determination module 804 may include: a first defuzzification unit, a second defuzzification unit, and a target angle determination unit.

[0174] The first defuzzification unit may be configured to perform defuzzification processing on the position control angle membership value and the position control membership to determine the position control angle. The second defuzzification unit may be configured to perform defuzzification processing on the heading control angle membership value and the heading control membership to determine the heading control angle. The target angle determination unit may be configured to determine the target angle according to the position control angle and the heading control angle.

[0175] Since the functional modules of the target moving body control device 800 of the exemplary embodiment of the present disclosure correspond to the steps of the exemplary embodiment of the target moving body control method described above, they will not be described in detail here.

[0176] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for a computing device (which can be a personal computer, a server, a mobile terminal, or a smart device, etc.) to execute the method according to the embodiment of the present disclosure, for example Figure 3 One or more of the steps shown.

[0177] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0178] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not applied for by the present disclosure. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0179] It should be understood that the present disclosure is not limited to the detailed structures, drawings or implementations shown herein, but rather the present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A target moving body control method, characterized in that: include: Determine the position deviation and heading deviation of the target moving body relative to the target moving trajectory; wherein the position deviation includes a lateral position deviation and a lateral deviation change value; the heading deviation includes a heading angle deviation and a heading deviation change value; Determine the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to the position fuzzy rule table; the position control angle membership value is determined by the position deviation membership value corresponding to the lateral position deviation and the position deviation change membership value corresponding to the lateral deviation change value, and the position control membership is obtained by multiplying the position deviation membership of the lateral position deviation to the position deviation membership value and the position deviation change membership of the lateral deviation change value to the position deviation change membership value; Determine the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to the heading fuzzy rule table; the heading control angle membership value is determined by the heading deviation membership value corresponding to the heading angle deviation and the heading deviation change membership value corresponding to the heading angle deviation change value; the heading control membership degree is determined by multiplying the heading deviation membership degree of the heading angle deviation belonging to the heading deviation membership value and the heading deviation change membership degree of the heading deviation change value belonging to the heading deviation change membership value; Determining a target angle of the target mobile body according to the position control angle membership value, the position control membership degree, the heading control angle membership value, and the heading control membership degree, so as to control the movement of the target mobile body according to the target angle; The target angle is obtained according to the following formula: Among them, μ △pi is the i-th position deviation membership, μ △p′i is the i-th position deviation change membership, μ △pi μ △p′i is the i-th position control membership, p_δi is the angle output value corresponding to the i-th position control angle membership value, μ △Ψi is the i-th heading deviation membership, μ △Ψ′i is the i-th heading deviation change membership, μ △Ψi μ △Ψ′i is the i-th heading control membership, and Ψ_δi is the angle output value corresponding to the i-th heading control angle membership value.

2. The method according to claim 1, characterized in that: Determining the position control angle membership value of the position deviation control according to the position fuzzy rule table includes: Performing fuzzy processing on the lateral position deviation to determine a position deviation membership value corresponding to the lateral position deviation; Performing fuzzy processing on the lateral deviation change value to determine a position deviation change membership value corresponding to the lateral deviation change value; The position control angle membership value is determined in the position fuzzy rule table according to the position deviation membership value and the position deviation change membership value.

3. The method according to claim 2, characterized in that: Determining the position control membership includes: Performing fuzzy processing on the lateral position deviation to determine the position deviation membership degree to which the lateral position deviation belongs to the position deviation membership value; Performing fuzzy processing on the lateral deviation change value to determine the position deviation change membership degree of the lateral deviation change value to the position deviation change membership value; The position control membership is determined according to the position deviation membership and the position deviation change membership.

4. The method according to claim 1, characterized in that: The heading deviation includes a heading angle deviation and a heading angle deviation change value; wherein, determining the heading control angle membership value of the heading deviation control according to the heading fuzzy rule table includes: Performing fuzzy processing on the heading angle deviation to determine a heading deviation membership value corresponding to the heading angle deviation; Performing fuzzy processing on the heading angle deviation change value to determine a heading deviation change membership value corresponding to the heading angle deviation change value; The heading control angle membership value is determined according to the heading deviation membership value and the heading deviation change membership value.

5. The method according to claim 4, characterized in that: Determining the heading control membership includes: Performing fuzzy processing on the heading angle deviation to determine a heading deviation membership degree to which the heading deviation belongs to the heading deviation membership value; Performing fuzzy processing on the heading deviation change value to determine a heading deviation change membership degree of the heading deviation change value to which the heading deviation change value belongs to the heading deviation change membership value; The heading control membership is determined according to the heading deviation membership and the heading deviation change membership.

6. The method according to claim 1, characterized in that: The heading control angle membership value includes a target heading control angle membership value, and the target heading control membership of the heading deviation being subordinate to the target heading control angle membership value is determined by a target heading deviation membership and a target heading deviation change membership; wherein determining the heading control membership according to the heading deviation membership and the heading deviation change membership includes: The target heading deviation membership is multiplied by the target heading deviation change membership to determine the target heading control membership.

7. A target moving body control device, characterized in that: include: A deviation determination module is configured to determine a position deviation and a heading deviation of the target moving body relative to the target moving trajectory; wherein the position deviation includes a lateral position deviation and a lateral deviation change value; and the heading deviation includes a heading angle deviation and a heading deviation change value; a position control membership determination module, configured to determine the position control angle membership value of the position deviation control and the position control membership corresponding to the position control angle membership value according to a position fuzzy rule table; the position control angle membership value is determined by the position deviation membership value corresponding to the lateral position deviation and the position deviation change membership value corresponding to the lateral deviation change value, and the position control membership is obtained by multiplying the position deviation membership of the lateral position deviation to the position deviation membership value and the position deviation change membership of the lateral deviation change value to the position deviation change membership value; A heading control membership determination module is configured to determine the heading control angle membership value of the heading deviation control and the heading control membership corresponding to the heading control angle membership value according to a heading fuzzy rule table; the heading control angle membership value is determined by the heading deviation membership value corresponding to the heading angle deviation and the heading deviation change membership value corresponding to the heading angle deviation change value; the heading control membership is determined by multiplying the heading deviation membership degree of the heading angle deviation to the heading deviation membership value and the heading deviation change membership degree of the heading deviation change value to the heading deviation change membership value; a target turning angle determination module, configured to determine the target turning angle of the target moving body according to the position control turning angle membership value, the position control membership degree, the heading control turning angle membership value and the heading control membership degree, so as to control the movement of the target moving body according to the target turning angle; The target angle is obtained according to the following formula: Among them, μ △pi is the i-th position deviation membership, μ △p′i is the i-th position deviation change membership, μ △pi μ △p′i is the i-th position control membership, p_δi is the angle output value corresponding to the i-th position control angle membership value, μ △Ψi is the i-th heading deviation membership, μ △Ψ′i is the i-th heading deviation change membership, μ △Ψi μ △Ψ′i is the i-th heading control membership, and Ψ_δi is the angle output value corresponding to the i-th heading control angle membership value.

8. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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