智能车辆超车系统模糊控制器设计

以模糊控制理论为基础,以车辆超车过程为研究对象进行模糊控制器的设计。根据从声纳、摄像等传感器传输的相关数据,经一系列处理,作为模糊控制器的输入,而把两车之间的相对速度,方向轮与车道线切线之间的夹角等作为模糊控制器的输出。根据专家知识对输入输出作模糊划分,建立模糊控制规则,选择模糊推理机制,最后经过反模糊化处理将精确输出值传送给执行器,从而实现超车过程。

The Design of Fuzzy Controller in Intelligent Vehicle Overtaking System

Based on the theory of fuzzy control,and taking the process of vehicle overtaking as the object,this paper designs the fuzzy controller.The related data from sonar,camera and other primary detectors,are used as the input of the fuzzy controller through a series of treatment.The relative velocity between two vehicles,the separation angle between the guiding wheels of intelligent vehicle and the tangent of lane white line are used as the output of fuzzy controller.According to the expert knowledge,to compartmentalize fuzzily the input and output of the fuzzy controller,and to upbuild the fuzzy control rule and the fuzzy inference strategy,then to carry its accurate output to the performer of the process of intelligent vehicle overtaking according to its performing perfect controller output in order to carry out the process of overtaking.