Early warning fuzzy control method and system for preventing stepping on accelerator pedal of passenger car by mistake

Abstract

The invention provides an early warning fuzzy control method and system for preventing a passenger car accelerator pedal from being stepped on mistakenly. The method comprises the steps that vehicle accelerator pedal opening degree data and vehicle speed data are collected; fuzzy processing is carried out on the collected vehicle accelerator pedal opening degree data and vehicle speed data; outputting a fuzzy set, and converting the fuzzy set into an early warning level; and executing an early warning signal output by the early warning level. A fuzzy logic control algorithm is adopted, the acceleration intention and the mistaken stepping risk of a driver can be intelligently recognized, and the early warning accuracy is improved; and through real-time monitoring and fuzzy reasoning, early warning of the mistaken stepping risk is realized, and sufficient response time is provided for a driver.

Description

Technical Field

[0001] The invention relates to the technical field of automobile safety control, and in particular to a fuzzy control method and system for preventing misstepping and early warning of accelerator pedal operation of a passenger car. Background Art

[0002] During bus operation, drivers often accidentally step on the accelerator pedal due to fatigue, distraction or operating errors in emergency situations, which not only threatens the safety of passengers and road users, but may also cause serious traffic accidents. Traditional anti-misstepping systems mostly rely on hardware limitations or simple threshold judgments, which are difficult to adapt to complex and changing driving environments and driver operating habits. Therefore, it is particularly important to develop an anti-misstepping warning system that can intelligently identify the driver's intentions and flexibly respond to different driving scenarios. Summary of the invention

[0003] The purpose of the present invention is to provide a fuzzy control method and system for preventing mis-stepping of the accelerator pedal of a bus, so as to realize fuzzy reasoning of the driver's acceleration intention and dynamic evaluation of the risk of mis-stepping, and send out a warning signal to remind the driver to adjust the operation in time.

[0004] The technical solution of the present invention is: a fuzzy control method for preventing accidental stepping of the accelerator pedal of a passenger car, comprising the following steps: S1. Data collection, collecting vehicle accelerator pedal opening data and vehicle speed data; S2. Fuzzify the collected vehicle accelerator pedal opening data and vehicle speed data; output a fuzzy set, and convert the fuzzy set into a warning level; S3. Execute the warning signal of the warning level output.

[0005] Furthermore, the fuzzification processing step in S2 includes: S01. Define input and output variables and their corresponding fuzzy sets, and map the actual input values ​​to their corresponding fuzzy sets; S02, define a membership function for each fuzzy set and calculate its membership; S03. Design a fuzzy judgment method; S04, traverse the fuzzy judgment method, find all the rules that match the current input value, calculate the activation strength of each matching rule, aggregate the output parts of all activated rules, and output the fuzzy set; S05. Calculate the centroid of the output fuzzy set using the centroid method and convert the value into a specific numerical value.

[0006] Furthermore, the input variables include the throttle pedal position and the vehicle speed. The fuzzy set corresponding to the throttle pedal position (Pthrottle) is {very small (VS), small (S), medium (M), large (L), very large (VL)}; the fuzzy set corresponding to the vehicle speed (Vspeed) is {slow (S), medium (M), fast (F)}; the output variable is the risk of mis-stepping, and the fuzzy set of the risk of mis-stepping (Risk) is {very small, small, medium, large, very large}.

[0007] Furthermore, the throttle pedal position opening data corresponding to the fuzzy set of the throttle pedal position (Pthrottle) is as follows: Very small (VS): Pedal travel change per second 0<throttle pedal position (Pthrottle) ≤5% opening; Small (S): Pedal travel change per second 5%<throttle pedal position (Pthrottle) ≤15% opening; Medium (M): Pedal travel change per second 15%<throttle pedal position (Pthrottle) ≤30% opening; Large (L): Pedal travel change per second 30%<throttle pedal position (Pthrottle) ≤ 60% opening; Very large (VL): Pedal travel change per second 60% < throttle pedal position (Pthrottle) ≤ 100% opening; The fuzzy set corresponding to the vehicle speed (Vspeed) is as follows: Slow (S): 0 < vehicle speed (Vspeed) ≤ 30 km / h; Medium (M): 30 < vehicle speed (Vspeed) ≤ 85 km / h; Fast (F): Vehicle speed (Vspeed)>85 km / h.

[0008] Furthermore, the fuzzy determination method is as follows: Method 1: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is very small; Method 2: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is small; Method 3: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is medium; Method 4: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is small; Method 5: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is small; Method 6: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is medium; Method 7: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is medium; Method 8: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is medium; Method 9: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is high; Method 10: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is medium; Method 11: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is high; Method 12: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is very high; Method 13: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is high; Method 14: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is M, the risk of mis-operation (Risk) is high; Method 15: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is F, the risk of mis-operation (Risk) is very high.

[0009] Furthermore, the method of converting the output fuzzy set into a warning level includes: S11. Clarify the warning levels, which are divided into Level 1 (Low) low risk, Level 2 (Medium-Low) medium-low risk, Level 3 (Medium) medium risk, Level 4 (Medium-High) medium-high risk and Level 5 (High) high risk; S12. Use expert scoring method to set threshold range for each warning level; S13. Calculate the centroid of the output fuzzy set using the centroid method, convert the value into a specific numerical value, compare the obtained specific numerical value with the predefined warning level threshold range, and determine the final warning level.

[0010] A fuzzy control system for preventing accidental stepping of an accelerator pedal of a passenger car, the system comprising: A data acquisition module is used to collect vehicle accelerator pedal opening data and vehicle speed data; The fuzzy control module performs fuzzy processing on the collected vehicle accelerator pedal opening data and vehicle speed data; outputs a fuzzy set and converts the fuzzy set into a warning level; The early warning module is used to execute the early warning signal corresponding to the early warning level.

[0011] Furthermore, the warning signal in the warning module includes a sound prompt, a vibration prompt and a visual signal prompt.

[0012] Beneficial Effects The present invention adopts a fuzzy logic control algorithm, which can intelligently identify the driver's acceleration intention and the risk of accidental stepping, and improve the accuracy of early warning; the fuzzy control method can flexibly respond to different driving environments and driver operating habits, and enhance the adaptability and robustness of the system. Through real-time monitoring and fuzzy reasoning, early warning of the risk of accidental stepping is achieved, providing the driver with sufficient reaction time. It effectively prevents safety accidents caused by accidental stepping on the accelerator, and improves the safety of bus driving and the riding experience of passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0015] A fuzzy control method for preventing accidental stepping of an accelerator pedal of a passenger car comprises the following steps: S1. Data collection, collecting vehicle accelerator pedal opening data and vehicle speed data; S2. Fuzzify the collected vehicle accelerator pedal opening data and vehicle speed data; output a fuzzy set, and convert the fuzzy set into a warning level; S3. Execute the warning signal of the warning level output.

[0016] Furthermore, the fuzzification processing step in S2 includes: S01. Define input and output variables and their corresponding fuzzy sets, and map the actual input values ​​to their corresponding fuzzy sets; S02, define a membership function for each fuzzy set and calculate its membership; S03. Design a fuzzy judgment method; S04, traverse the fuzzy judgment method, find all the rules that match the current input value, calculate the activation strength of each matching rule, aggregate the output parts of all activated rules, and output the fuzzy set; S05. Calculate the centroid of the output fuzzy set using the centroid method and convert the value into a specific numerical value.

[0017] Furthermore, the input variables include the throttle pedal position and the vehicle speed. The fuzzy set corresponding to the throttle pedal position (Pthrottle) is {very small (VS), small (S), medium (M), large (L), very large (VL)}; the fuzzy set corresponding to the vehicle speed (Vspeed) is {slow (S), medium (M), fast (F)}; the output variable is the risk of mis-stepping, and the fuzzy set of the risk of mis-stepping (Risk) is {very small, small, medium, large, very large}.

[0018] Very small (VS): Pedal travel change per second 0<throttle pedal position (Pthrottle) ≤5% opening; Small (S): Pedal travel change per second 5%<throttle pedal position (Pthrottle) ≤15% opening; Medium (M): Pedal travel change per second 15%<throttle pedal position (Pthrottle) ≤30% opening; Large (L): Pedal travel change per second 30%<throttle pedal position (Pthrottle) ≤ 60% opening; Very large (VL): Pedal travel change per second 60% < throttle pedal position (Pthrottle) ≤ 100% opening; The fuzzy set corresponding to the vehicle speed (Vspeed) is as follows: Slow (S): 0 < vehicle speed (Vspeed) ≤ 30 km / h; Medium (M): 30 < vehicle speed (Vspeed) ≤ 85 km / h; Fast (F): Vehicle speed (Vspeed)>85 km / h.

[0019] Furthermore, the fuzzy determination method is as follows: Method 1: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is very small; Method 2: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is small; Method 3: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is medium; Method 4: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is small; Method 5: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is small; Method 6: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is medium; Method 7: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is medium; Method 8: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is medium; Method 9: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is high; Method 10: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is medium; Method 11: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is high; Method 12: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is very high; Method 13: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is high; Method 14: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is M, the risk of mis-operation (Risk) is high; Method 15: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is F, the risk of mis-operation (Risk) is very high.

[0020] explain: 1. When the accelerator pedal position is in the "very small" or "small" range and the vehicle speed is in the "slow" or "medium" speed, it is generally believed that the driver is performing normal acceleration operations and the risk of accidental stepping is relatively small.

[0021] 2. When the accelerator pedal position is in the "medium" or "large" range but the vehicle speed is slow, it may mean that the driver has applied a large accelerator pedal operation at a low speed, which may be a preliminary sign of misoperation. Therefore, the risk of misoperation is at least medium.

[0022] 3. When the accelerator pedal position is in the "very large" range, it usually means that the driver has accelerated sharply while driving at high speed. Regardless of the speed, it is very likely that the accelerator was accidentally pressed, so the risk of accidental pressing is at least large. Especially when the speed is "medium" or "fast", it is very likely that the driver accidentally pressed the accelerator in an emergency. This operation is extremely dangerous and the risk of accidental pressing is very high.

[0023] Furthermore, the method of converting the output fuzzy set into a warning level includes: S11. Clarify the warning levels, which are divided into Level 1 (Low) low risk, Level 2 (Medium-Low) medium-low risk, Level 3 (Medium) medium risk, Level 4 (Medium-High) medium-high risk and Level 5 (High) high risk; S12. Use expert scoring method to set threshold range for each warning level; S13. Calculate the centroid of the output fuzzy set using the centroid method, convert the value into a specific numerical value, compare the obtained specific numerical value with the predefined warning level threshold range, and determine the final warning level.

[0024] Furthermore, the system comprises: A data acquisition module is used to collect vehicle accelerator pedal opening data and vehicle speed data; The fuzzy control module performs fuzzy processing on the collected vehicle accelerator pedal opening data and vehicle speed data; outputs a fuzzy set and converts the fuzzy set into a warning level; The early warning module is used to execute the early warning signal corresponding to the early warning level.

[0025] Furthermore, the warning signal in the warning module includes a sound prompt, a vibration prompt and a visual signal prompt.

[0026] In this embodiment, the vehicle accelerator pedal opening is collected using a high-precision accelerator pedal position sensor, which uses a non-contact Hall effect sensor or a laser displacement sensor to ensure that the accelerator pedal opening can be accurately measured even in extreme environments (such as high temperature and humidity), with an accuracy of 0.1% or more. The accelerator pedal opening is measured in real time and the output is a continuously changing voltage signal.

[0027] In addition to the traditional mechanical switch signal, a pressure sensor is added to monitor the braking force of the brake pedal to distinguish the different operating characteristics under normal braking and emergency braking.

[0028] The vehicle speed is collected using a vehicle speed sensor, which uses the wheel speed sensor in combination with the vehicle ECU data to achieve accurate measurement of the vehicle speed, while taking into account the influence of tire slip rate for correction.

[0029] Accelerator pedal position (P throttle )The corresponding fuzzy set is {very small (VS), small (S), medium (M), large (L), very large (VL)}; use trapezoidal or triangular membership function to map each opening value to the corresponding fuzzy set.

[0030] The fuzzy set corresponding to the vehicle speed (Vspeed) is {slow (S), medium (M), fast (F)}; the vehicle speed value is mapped to the fuzzy set using a trapezoidal or triangular membership function.

[0031] The output variable is the risk of accidentally stepping on something, and the fuzzy set of the risk of accidentally stepping on something (Risk) is {“very small”, “small”, “medium”, “large”, “very large”}.

[0032] The centroid method is used to calculate the "center of gravity" or weighted average of the fuzzy set as the output value.

[0033] The weighted average of the Risk fuzzy set is calculated, where the weight is the degree of membership of each element. This weighted average (also called the centroid) is used as the output value.

[0034] formula: Where n is the number of elements in the fuzzy set, element i is the i-th element in the fuzzy set (if the element is qualitative, it needs to be converted to a quantitative value first), and membership degree i is the membership degree of the i-th element.

[0035] The specific numerical value of the obtained output value is compared with the predefined warning level threshold range to determine the final warning level.

[0036] The warning levels are classified as follows: Level 1 (Low): Low risk, indicating that the current accelerator pedal operation will not constitute an accidental step, and no warning signal is required.

[0037] Level 2 (Medium-Low): Medium-low risk, indicating that the accelerator pedal may be accidentally pressed, but the risk is low. A reminder may be issued and the accelerator pedal accidental pressing indicator light will be displayed on the instrument.

[0038] Level 3 (Medium): Medium risk, indicating that the accelerator pedal operation may constitute accidental stepping, and a general warning signal needs to be issued. The accelerator pedal accidental stepping indicator light is displayed on the instrument and the instrument buzzer emits a slight beeping sound.

[0039] Level 4 (Medium-High): Medium-high risk, indicating that the accelerator pedal operation is very likely to constitute accidental stepping, and a strong warning signal needs to be issued. The accelerator pedal accidental step indicator light is displayed on the instrument and the instrument buzzer emits a rapid beeping sound.

[0040] Level 5 (High): High risk, indicating that the accelerator pedal operation is almost certain to be an accidental step, and an emergency warning signal needs to be issued immediately and a message needs to be sent to the vehicle controller via CAN.

[0041] The system outputs warning level information based on the fuzzy control module. The warning module issues warnings to the driver through sound, vibration and / or visual signals, and communicates with the vehicle controller through the vehicle CAN bus to achieve information sharing and collaborative control.

Claims

1. A fuzzy control method for preventing accidental stepping of the accelerator pedal of a passenger car, characterized in that: The following steps are involved: S1. Data collection, collecting vehicle accelerator pedal opening data and vehicle speed data; S2. Fuzzy processing is performed on the collected vehicle accelerator pedal opening data and vehicle speed data; Output fuzzy sets and convert fuzzy sets into warning levels; S3. Execute the warning signal of the warning level output.

2. A bus accelerator pedal anti-misstepping warning fuzzy control method according to claim 1, characterized in that: The fuzzification processing step in S2 includes: S01. Define input and output variables and their corresponding fuzzy sets, and map the actual input values ​​to their corresponding fuzzy sets; S02, define a membership function for each fuzzy set and calculate its membership; S03. Design a fuzzy judgment method; S04, traverse the fuzzy judgment method, find all the rules that match the current input value, calculate the activation strength of each matching rule, aggregate the output parts of all activated rules, and output the fuzzy set; S05. Calculate the centroid of the output fuzzy set using the centroid method and convert the value into a specific numerical value.

3. A bus accelerator pedal anti-misstepping warning fuzzy control method according to claim 2, characterized in that: The input variables include the throttle pedal position and the vehicle speed. The fuzzy set corresponding to the throttle pedal position (Pthrottle) is {very small (VS), small (S), medium (M), large (L), very large (VL)}; the fuzzy set corresponding to the vehicle speed (Vspeed) is {slow (S), medium (M), fast (F)}; the output variable is the risk of mis-stepping, and the fuzzy set of the risk of mis-stepping (Risk) is {very small, small, medium, large, very large}.

4. A bus accelerator pedal anti-misstepping warning fuzzy control method according to claim 3, characterized in that: The throttle pedal position opening data corresponding to the fuzzy set of the throttle pedal position (Pthrottle) are as follows: Very small (VS): Pedal travel change per second 0<throttle pedal position (Pthrottle) ≤5% opening; Small (S): Pedal travel change per second 5%<throttle pedal position (Pthrottle) ≤15% opening; Medium (M): Pedal travel change per second 15%<throttle pedal position (Pthrottle) ≤30% opening; Large (L): Pedal travel change per second 30%<throttle pedal position (Pthrottle) ≤ 60% opening; Very large (VL): Pedal travel change per second 60% < throttle pedal position (Pthrottle) ≤ 100% opening; The fuzzy set corresponding to the vehicle speed (Vspeed) is as follows: Slow (S): 0 < vehicle speed (Vspeed) ≤ 30 km / h; Medium (M): 30 < vehicle speed (Vspeed) ≤ 85 km / h; Fast (F): Vehicle speed (Vspeed)>85 km / h.

5. The fuzzy control method for preventing accidental stepping of the accelerator pedal of a passenger car according to claim 2 is characterized in that: The fuzzy determination method is as follows: Method 1: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is very small; Method 2: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is small; Method 3: If the throttle pedal position (Pthrottle) is VS and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is medium; Method 4: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is small; Method 5: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is small; Method 6: If the throttle pedal position (Pthrottle) is S and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is medium; Method 7: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is medium; Method 8: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is medium; Method 9: If the throttle pedal position (Pthrottle) is M and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is high; Method 10: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is medium; Method 11: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is M, the risk of accidental pedaling (Risk) is high; Method 12: If the throttle pedal position (Pthrottle) is L and the vehicle speed (Vspeed) is F, the risk of accidental pedaling (Risk) is very high; Method 13: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is S, the risk of accidental pedaling (Risk) is high; Method 14: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is M, the risk of mis-operation (Risk) is high; Method 15: If the throttle pedal position (Pthrottle) is VL and the vehicle speed (Vspeed) is F, the risk of mis-operation (Risk) is very high.

6. A bus accelerator pedal anti-misstepping warning fuzzy control method according to claim 2, characterized in that: The method for converting the output fuzzy set into the warning level comprises: S11. Clarify the warning levels, which are divided into Level 1 (Low) low risk, Level 2 (Medium-Low) medium-low risk, Level 3 (Medium) medium risk, Level 4 (Medium-High) medium-high risk and Level 5 (High) high risk; S12. Use expert scoring method to set threshold range for each warning level; S13. Calculate the centroid of the output fuzzy set using the centroid method, convert the value into a specific numerical value, compare the obtained specific numerical value with the predefined warning level threshold range, and determine the final warning level.

7. A fuzzy control system for preventing accidental stepping of the accelerator pedal of a passenger car, characterized in that: The system include: A data acquisition module is used to collect vehicle accelerator pedal opening data and vehicle speed data; The fuzzy control module performs fuzzy processing on the collected vehicle accelerator pedal opening data and vehicle speed data; outputs a fuzzy set and converts the fuzzy set into a warning level; The early warning module is used to execute the early warning signal corresponding to the early warning level.

8. A passenger car accelerator pedal anti-misstepping warning fuzzy control system according to claim 6, characterized in that: The warning signal in the warning module includes sound prompt, vibration prompt and visual signal prompt.

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