CN111186436B

CN111186436B - Vehicle component control method and device and vehicle

Info

Publication number: CN111186436B
Application number: CN202010066850.7A
Authority: CN
Inventors: 吴旺生; 刘慧建; 范义红
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2021-11-30
Anticipated expiration: 2040-01-20
Also published as: CN111186436A

Abstract

The application discloses a control method and device for vehicle components and a vehicle, and belongs to the technical field of electronics. The method comprises the following steps: in the running process of the vehicle, acquiring the target distance between the vehicle and the obstacle and the target speed of the vehicle relative to the obstacle; fuzzifying the target distance to obtain a first fuzzy variable; fuzzifying the target speed to obtain a second fuzzy variable; obtaining a target control instruction based on the first fuzzy variable and the second fuzzy variable; controlling a component in the vehicle according to the target control instruction. The problem that the limitation of controlling the components of the vehicle according to the mathematical model is high is solved. The application is used for controlling components of a vehicle.

Description

Vehicle component control method and device and vehicle

Technical Field

The present disclosure relates to the field of electronic technologies, and in particular, to a method and an apparatus for controlling a vehicle component, and a vehicle.

Background

With the development of electronic technology, the requirements for safety and intellectualization of vehicle driving are higher and higher.

In the related art, during the driving process of a vehicle, a control device of the vehicle collects some information (such as state information of a road surface and driving speed of the vehicle), inputs the collected information into a mathematical model for analysis, so as to obtain a corresponding control command, and then controls a corresponding component (such as a brake pad or a speaker) in the vehicle according to the control command.

Because the complexity of determining the mathematical model is high and the applicable scenes of the mathematical model are few, the limitation of controlling the vehicle parts according to the mathematical model in the related technology is high.

Disclosure of Invention

The application provides a control method and device for a vehicle component and a vehicle, and can solve the problem that the limitation of controlling the vehicle component according to a mathematical model is high. The technical scheme is as follows:

in one aspect, a method of controlling a vehicle component is provided, the method comprising:

in the running process of a vehicle, acquiring a target distance between the vehicle and an obstacle and a target speed of the vehicle relative to the obstacle;

fuzzifying the target distance to obtain a first fuzzy variable;

fuzzifying the target speed to obtain a second fuzzy variable;

obtaining a target control instruction based on the first fuzzy variable and the second fuzzy variable;

controlling a component in the vehicle according to the target control instruction.

Optionally, the blurring the target distance to obtain a first fuzzy variable includes:

determining the maximum membership degree corresponding to the target distance based on a first membership function of the distance and the membership degree; wherein, any distance in the first membership function corresponds to at least one membership degree, the at least one membership degree corresponds to at least one distance range in which any distance is located in n distance ranges one by one, and each membership degree corresponding to any distance is: the membership degree of the distance range corresponding to each membership degree by any distance; the n distance ranges correspond to the n fuzzy variables one by one, and n is more than or equal to 2;

determining a fuzzy variable corresponding to a distance range corresponding to the maximum membership degree corresponding to the target distance as the first fuzzy variable;

the step of fuzzifying the target speed to obtain a second fuzzy variable comprises the following steps:

determining the maximum membership degree corresponding to the target speed based on a second membership function of the speed and the membership degree; wherein, any speed in the second membership function has at least one membership degree corresponding to at least one speed range in which any speed is located in m speed ranges, and each membership degree corresponding to any speed is: the membership degree of any speed to the speed range corresponding to each membership degree; the m speed ranges correspond to the m fuzzy variables one by one, and m is more than or equal to 2;

and determining the fuzzy variable corresponding to the speed range corresponding to the maximum membership degree corresponding to the target speed as the second fuzzy variable.

Optionally, the minimum value in the ith distance range is less than the minimum value in the (i + 1) th distance range; the maximum value in the ith distance range is smaller than the maximum value in the (i + 1) th distance range, i is more than or equal to 1 and less than or equal to i +1 and less than or equal to n;

the minimum value in the jth speed range is less than the minimum value in the j +1 th speed range; the maximum value in the jth speed range is smaller than the maximum value in the jth +1 speed range, and j is larger than or equal to 1 and smaller than or equal to j +1 and smaller than or equal to m.

Optionally, the deriving a target control command based on the first fuzzy variable and the second fuzzy variable, where n is 9 and m is 3, includes:

when a first condition is met, determining that the target control instruction is an instruction for displaying first alarm information; wherein the first condition comprises: a is 4 and b is 1; or, a ═ 7, and b ═ 2; wherein the first fuzzy variable corresponds to an a-th distance range of the n distance ranges, and the second fuzzy variable corresponds to a b-th speed range of the m speed ranges;

when a second condition is met, determining that the target control instruction is an instruction for displaying second alarm information; wherein the second condition comprises: a is 6 and b is 2; or a is 9 and b is 3, and the first alarm information is different from the second alarm information;

when a third condition is met, determining that the target control instruction is a deceleration instruction; wherein the third condition comprises: a is more than or equal to 2 and less than or equal to 3, and b is 1; or a is more than or equal to 3 and less than or equal to 5, and b is 2; or, a is 5 ≤ 8, and b is 3;

when the fourth condition is met, determining that the target control instruction is a parking instruction; wherein the fourth condition includes: a is 1; or a is 2, and 2 is less than or equal to b is less than or equal to 3; alternatively, a is 3. ltoreq.4, and b is 3.

Optionally, the obtaining a target control instruction based on the first fuzzy variable and the second fuzzy variable further includes:

when a fifth condition is met, determining that the target control command is a command for prohibiting control of a component in the vehicle; the fifth condition includes: a is more than or equal to 5 and less than or equal to 9, and b is 1; alternatively, a is 8. ltoreq. 9, and b is 2.

Optionally, before controlling a component in the vehicle according to the target control command, the method further comprises:

and adjusting the format of the target control instruction.

Optionally, the blurring the target distance includes:

when the target speed is a positive value, fuzzifying the target distance;

the fuzzifying the target speed comprises the following steps:

and when the target speed is a positive value, performing fuzzification processing on the target speed.

Optionally, a time difference between the obtaining of the target distance and the obtaining of the target speed is smaller than a duration threshold.

In another aspect, there is provided a control apparatus of a vehicle component, the control apparatus including:

the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring a target distance between a vehicle and an obstacle and a target speed of the vehicle relative to the obstacle in the running process of the vehicle;

the first processing module is used for carrying out fuzzification processing on the target distance to obtain a first fuzzy variable;

the second processing module is used for carrying out fuzzification processing on the target speed to obtain a second fuzzy variable;

the determining module is used for obtaining a target control instruction based on the first fuzzy variable and the second fuzzy variable;

a control module to control a component in the vehicle according to the target control instruction.

In yet another aspect, a vehicle is provided, the vehicle comprising: the control device and the control component thereof.

The beneficial effect that technical scheme that this application provided brought includes at least:

according to the method and the device, the target distance between the vehicle and the obstacle and the target speed of the vehicle relative to the obstacle can be fuzzified, and then a target control command is determined according to the obtained fuzzy variable so as to control components in the vehicle. Because the vehicle can be controlled only according to the target distance and the target speed in the embodiment of the application, and then the vehicle is prevented from colliding with the obstacle, the mode for controlling the vehicle is simpler, the mode is wider in application scene, and the limitation of controlling the vehicle is reduced.

Drawings

FIG. 1 is a flow chart of a method for controlling a vehicle component provided by an embodiment of the present application;

FIG. 2 is a flow chart of another method for controlling a vehicle component provided by an embodiment of the present application;

FIG. 3 is a functional image of a first membership function provided in an embodiment of the present application;

FIG. 4 is a functional image of a second membership function provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a control device for a vehicle component according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

At present, a vehicle is provided with an anti-collision system for detecting relevant information in the driving process of the vehicle, and then the detected information is input into a mathematical model to obtain a corresponding control instruction so as to control the vehicle and avoid the collision between the vehicle and an obstacle. However, the complexity of building the mathematical model is high, and the mathematical model is not suitable for a plurality of actual driving scenes of the vehicle, so that the current vehicle has poor anti-collision effect and low safety. The embodiment of the application provides a control method of a vehicle component, which can be suitable for more vehicle driving scenes and can improve the driving safety of a vehicle.

Fig. 1 is a flowchart of a control method for a vehicle component according to an embodiment of the present application. As shown in fig. 1, the method may include:

step 101, acquiring a target distance between a vehicle and an obstacle and a target speed of the vehicle relative to the obstacle during the running process of the vehicle.

And 102, fuzzifying the target distance to obtain a first fuzzy variable.

And 103, fuzzifying the target speed to obtain a second fuzzy variable.

And 104, obtaining a target control instruction based on the first fuzzy variable and the second fuzzy variable.

And 105, controlling components in the vehicle according to the target control command.

In summary, in the embodiment of the present application, the target distance between the vehicle and the obstacle and the target speed of the vehicle relative to the obstacle may be fuzzified, and then a target control command may be determined according to the obtained fuzzy variable, so as to control the components in the vehicle. Because the vehicle can be controlled only according to the target distance and the target speed in the embodiment of the application, and then the vehicle is prevented from colliding with the obstacle, the mode for controlling the vehicle is simpler, the mode is wider in application scene, and the limitation of controlling the vehicle is reduced.

Optionally, the control method for the vehicle component provided by the embodiment of the application can be used for a control device for the vehicle component, and the control device can be connected with various components (such as a camera assembly, a ranging assembly, a brake pad, a loudspeaker, a display, a wiper blade and the like) in the vehicle. Such as a control device, may be communicatively coupled to the various components. The control device may include a processor and a memory, the memory is connected to the processor through a bus or other means, and the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the control method for the vehicle component provided by the embodiment of the present application.

FIG. 2 is a flow chart of another method for controlling a vehicle component according to an embodiment of the present application. The method may be used for a control device of a vehicle component, as shown in fig. 2, and may include:

step 201, obtaining a target distance between a vehicle and an obstacle, and a target speed of the vehicle relative to the obstacle.

Optionally, a ranging assembly in the vehicle may detect the distance between the vehicle and surrounding objects in real time during the vehicle's travel, optionally the ranging assembly may include a radar. The distance measurement assembly can detect the target distance between the vehicle and the obstacle in the driving direction of the vehicle, and then the control device can acquire the target distance detected by the distance measurement assembly. The control device may also determine a target speed of the vehicle relative to the obstacle based on the target distance and a distance between the vehicle and the obstacle detected within a time period before the ranging component detects the target distance. It should be noted that the target speed of the vehicle relative to the obstacle is a difference between the speed of the vehicle and the speed of the obstacle, and the target speed may be a positive value or a negative value.

Optionally, the camera assembly in the vehicle may also capture images of the surroundings of the vehicle in real time, for example, the camera assembly may capture images of the obstacle. The control device can determine the target distance between the vehicle and the obstacle and the target speed of the vehicle relative to the obstacle according to the position of the obstacle in the image acquired by the camera shooting assembly.

Optionally, in the embodiment of the present application, a time difference between the obtaining of the target distance and the obtaining of the target speed is smaller than the duration threshold, so that a time when the distance between the vehicle and the obstacle is the target distance is closer to a time when the speed of the vehicle relative to the obstacle is the target speed, so as to ensure that a relative state between the vehicle and the obstacle when the target distance is obtained is consistent with a relative state between the vehicle and the obstacle when the target speed is obtained as much as possible. Such as to allow the control means to determine the distance of the vehicle from the obstacle and the target speed of the vehicle relative to the obstacle at the same time.

The obstacle in the embodiment of the application can be other vehicles in front of the vehicle. Alternatively, the obstacle may be a wall in front of the vehicle, a house, a pedestrian, or other objects.

Step 202, determine if the target speed is a positive value. When the target speed is a positive value, executing step 203; when the target speed is not a positive value, step 201 is executed.

It should be noted that a positive target speed may indicate that the speed of the vehicle is greater than the speed of the obstacle in the driving direction of the vehicle, and the distance between the vehicle and the obstacle will gradually decrease, so that it may be determined that the vehicle and the obstacle are at risk of colliding. At this time, the magnitude of the risk of collision of the vehicle with the obstacle may be further determined. The target speed is not a positive value, which may indicate that there is no risk of collision between the vehicle and the obstacle, and the target speed may be continuously obtained to continuously monitor the relative state of the vehicle and the obstacle to determine whether there is a risk of collision between the vehicle frame and the obstacle.

And step 203, fuzzifying the target distance to obtain a first fuzzy variable. Step 204 is performed.

It should be noted that the fuzzification processing is a process of converting a certain value into a corresponding fuzzy language variable value, and the fuzzy language variable value is a fuzzy set. In the embodiments of the present application, the fuzzy language variable value is referred to as a fuzzy variable.

Alternatively, a plurality of distance ranges may be set according to the size of the distance, and each distance range corresponds to one fuzzy variable (i.e. each distance range is represented by one fuzzy variable). And further, according to the set distance ranges and the membership degree of the target distance to each distance range, determining a first fuzzy variable corresponding to the target distance so as to complete the fuzzification processing on the target distance and obtain the first fuzzy variable. Membership refers to the degree to which an element belongs to a fuzzy set.

For example, the control device may determine the maximum membership degree corresponding to the target distance based on a first membership function of the distance and the membership degree, and further determine a fuzzy variable corresponding to a distance range corresponding to the maximum membership degree corresponding to the target distance as the first fuzzy variable.

For the first membership function, n distance ranges exist, the n distance ranges correspond to the n fuzzy variables one by one, and n is larger than or equal to 2. Any distance in the first membership function has a membership for each range of distances in which it is located. If any distance in the first membership function corresponds to at least one membership degree, the at least one membership degree corresponds to at least one distance range in which the any distance in the n distance ranges is located, and each membership degree corresponding to the any distance is as follows: the membership degree of any distance to the distance range corresponding to the membership degree. The controller may determine a maximum membership degree of the at least one membership degree corresponding to the any distance, and determine the maximum membership degree as a membership degree of the any distance to which distance range, so as to determine the fuzzy variable corresponding to the distance range as the first fuzzy variable.

Optionally, of the n distance ranges, a minimum value in an ith distance range is smaller than a minimum value in an (i + 1) th distance range; the maximum value in the ith distance range is smaller than the maximum value in the (i + 1) th distance range, and i is more than or equal to 1 and less than or equal to i +1 and less than or equal to n.

For example, fig. 3 is a functional image of a first membership function provided in an embodiment of the present application. As shown in fig. 3, the horizontal axis in the function image represents distance and the vertical axis represents degree of membership. Each membership degree is a numerical value between 0 and 1. Fig. 3 exemplifies that n is 9, that is, there are 9 distance ranges in the first membership function, and the 9 distance ranges are in one-to-one correspondence with 9 fuzzy variables. The 9 distance ranges are [0, 5], [0, 10], [5, 15], [10, 20], [15, 25], [20, 30], [25, 35], [30, 40] and [35, ∞ ] in sequence, and the 9 fuzzy variables corresponding to the 9 distance ranges are represented by 9 fuzzy states of EC (i.e., very close), VC (i.e., close), MC (i.e., close), LC (i.e., somewhat close), MI (i.e., normal), LF (i.e., somewhat far), MF (i.e., far), VF (i.e., far) and EF (i.e., far) in sequence. It should be noted that, in the embodiment of the present application, the value of n, the distance value included in each distance range, and each fuzzy state representing a fuzzy variable are examples, alternatively, n may also be other numerical values such as 8 or 10, and other ranges such as [7, 17] or [10, 30] may also be included in the n distance ranges, and the state representing the fuzzy variable may also include other states such as "super far", which is not limited in this embodiment of the present application.

Assuming that the target distance is 18 meters, as can be seen from fig. 3, the target distance is located in both the 3 rd distance range [10, 20] and the 4 th distance range [15, 25], and the membership degree of the target distance to the 3 rd distance range is 0.4, and the membership degree of the target distance to the 4 th distance range is 0.6. Therefore, the control device may determine that the maximum membership degree corresponding to the target distance is 0.6, the distance range corresponding to the maximum membership degree is the 4 th distance range, and the fuzzy variable corresponding to the 4 th distance range is the 4 th fuzzy variable LC, so that the 4 th fuzzy variable LC may be determined as the first fuzzy variable.

It should be noted that, in the embodiment of the present application, the step 204 is taken as an example to be executed after the step 203 is executed, and optionally, the step 203 may be executed first, and then the step 204 is executed, or the step 203 and the step 204 are executed at the same time.

And step 204, fuzzifying the target speed to obtain a second fuzzy variable. Step 205 is performed.

Alternatively, a plurality of speed ranges may be set according to the size of the speed, and each speed range corresponds to one fuzzy variable (i.e. each speed range is represented by one fuzzy variable). And further, according to the set multiple speed ranges and the membership degree of the target speed to each speed range, determining a second fuzzy variable corresponding to the target speed to finish the fuzzification processing of the target speed to obtain the second fuzzy variable.

For example, the control device may determine the maximum membership degree corresponding to the target speed based on a second membership function of the speed and the membership degree, and further determine the fuzzy variable corresponding to the speed range corresponding to the maximum membership degree corresponding to the target speed as the second fuzzy variable.

For the second membership function, m speed ranges exist, the m speed ranges correspond to m fuzzy variables one by one, and m is larger than or equal to 2. Any speed in the second membership function has a membership for each speed range in which it is located. If any speed in the second membership function corresponds to at least one membership degree, the at least one membership degree corresponds to at least one speed range in which the any speed is located in the m speed ranges one by one, and each membership degree corresponding to the any speed is as follows: the membership degree of any speed to the speed range corresponding to the membership degree. The controller may determine a maximum membership degree of the at least one membership degree corresponding to the any speed, and determine the maximum membership degree as a membership degree of the any speed to which speed range, so as to determine the fuzzy variable corresponding to the speed range as the second fuzzy variable.

Optionally, in the m speed ranges, a minimum value in a jth speed range is smaller than a minimum value in a j +1 th speed range; the maximum value in the jth speed range is smaller than the maximum value in the jth +1 speed range, and j is larger than or equal to 1 and smaller than or equal to j +1 and smaller than or equal to m.

For example, fig. 4 is a functional image of a second membership function provided in an embodiment of the present application. As shown in fig. 4, the horizontal axis in the function image represents the velocity and the vertical axis represents the degree of membership. Fig. 4 exemplifies that m is 3, that is, there are 3 speed ranges in the second membership function, and the 3 speed ranges are in one-to-one correspondence with 3 fuzzy variables. The 3 speed ranges are [0, 30], [10, 80], [60, ∞ ] in this order, and the 3 fuzzy variables corresponding to the 3 speed ranges are represented by 3 fuzzy states of S (slow), M (general), and F (fast) in this order. It should be noted that, in this embodiment of the present application, values of m, speed values included in each speed range, and respective fuzzy states representing fuzzy variables are examples, alternatively, m may also be other values such as 4 or 5, other ranges such as [20, 50] or [25, 80] may also be included in the m speed ranges, and a state of a paste representing each fuzzy variable may also include other states such as "fast" or "slow", which is not limited in this embodiment of the present application.

Assuming that the target speed is 40M/s, as can be seen from fig. 4, the target speed is only within the 2 nd speed range [10, 80], in this case, the control device may directly determine the 2 nd fuzzy variable M corresponding to the 2 nd speed range as the second fuzzy variable.

It should be noted that, in the embodiment of the present application, the first membership function and the second membership function are both triangle membership functions (also referred to as Trimf functions) for explanation. Alternatively, the first membership function and the second membership function may be other membership functions such as a trapezoidal membership function (also referred to as a trapmf function) or a gaussian membership function (also referred to as a gaussmf function).

And step 205, obtaining a target control instruction based on the first fuzzy variable and the second fuzzy variable. Step 206 is performed.

Alternatively, the set fuzzy inference rule can be written according to the method and the decision of the driver for processing the problems when the driver encounters various conditions in the vehicle driving process so as to express the corresponding relation between the first fuzzy variable and the second fuzzy variable and the target control instruction. The fuzzy controller can store the fuzzy inference rule, and the control device can input the first fuzzy variable and the second fuzzy variable into the fuzzy controller, so as to obtain a target control instruction according to the fuzzy inference rule stored in the fuzzy controller. Alternatively, the target control instruction output by the fuzzy controller may be only one fuzzy instruction.

For example, the target control instruction may be one of five instructions of an instruction to prohibit control of a component in the vehicle, an instruction to present first warning information, an instruction to present second warning information, a deceleration instruction, and a parking instruction, the first warning information being different from the second warning information. Optionally, both the first warning information and the second warning information are voice information, and the tone of the second warning information may be higher than that of the first warning information; or the first warning information and the second warning information can be both character information, and the character size of the characters in the second warning information can be larger than the character size of the characters in the first warning information; or the first warning information may be text information, and the second warning information may be voice information, which is not limited in this embodiment of the present application.

Alternatively, the five commands may be represented by five fuzzy messages, i.e., GR (i.e., no action), BL (i.e., pre-warning), YE (i.e., emergency warning), OR (i.e., partial braking), and RE (i.e., full force braking) in sequence. It should be noted that the above-mentioned instruction and the fuzzy information are examples, alternatively, the target control instruction may also be another instruction such as an instruction to execute a certain alarm operation or an instruction to send information to a certain communication device, and the fuzzy information used for indicating the instruction may also be arbitrarily adjusted, which is not limited in this embodiment of the present application.

Optionally, table 1 below is a fuzzy inference rule provided in the embodiments of the present application.

TABLE 1

From the fuzzy inference rule represented in table 1 above, it can be seen that:

when the first condition is satisfied, the control apparatus may determine that the target control instruction is an instruction to present the first warning information. Wherein the first condition comprises: a is 4 and b is 1; alternatively, a is 7 and b is 2. The a-th distance range is a distance range corresponding to a first fuzzy variable in the n distance ranges, and the b-th distance range is a speed range corresponding to a second fuzzy variable in the m speed ranges. The first condition is also: the fuzzy state of the first fuzzy variable is somewhat close, and the fuzzy state of the second fuzzy variable is slow; alternatively, the first fuzzy variable is more distant and the second fuzzy variable is more general.

When the second condition is satisfied, the control device may determine that the target control instruction is an instruction to display the second warning information; wherein the second condition comprises: a is 6 and b is 2; or a is 9 and b is 3, and the first alarm information is different from the second alarm information. The second condition is therefore: the fuzzy state of the first fuzzy variable is somewhat far, and the fuzzy state of the second fuzzy variable is general; alternatively, the fuzzy state of the first fuzzy variable is far and the fuzzy state of the second fuzzy variable is fast.

When the third condition is satisfied, the control device may determine that the target control instruction is a deceleration instruction; wherein the third condition includes: a is more than or equal to 2 and less than or equal to 3, and b is 1; or a is more than or equal to 3 and less than or equal to 5, and b is 2; alternatively, a is 5. ltoreq. 8, and b is 3. The third condition is therefore: the fuzzy state of the first fuzzy variable is near or near, and the fuzzy state of the second fuzzy variable is slow; or the fuzzy state of the first fuzzy variable is closer, somewhat closer or general, and the fuzzy state of the second fuzzy variable is general; alternatively, the fuzzy state of the first fuzzy variable is normal, somewhat far, far or far, and the fuzzy state of the second fuzzy variable is fast.

When the fourth condition is satisfied, the control device may determine that the target control instruction is a parking instruction; wherein the fourth condition comprises: a is 1; or a is 2, and 2 is less than or equal to b is less than or equal to 3; alternatively, a is 3. ltoreq.4, and b is 3. Therefore, the fourth condition is: the fuzzy state of the first fuzzy variable is very close; or the fuzzy state of the first fuzzy variable is near and the fuzzy state of the second fuzzy variable is normal or fast; alternatively, the fuzzy state of the first fuzzy variable is closer or somewhat closer, and the fuzzy state of the second fuzzy variable is faster.

When the fifth condition is satisfied, the control apparatus may determine the target control instruction as an instruction to prohibit control of a component in the vehicle; the fifth condition includes: a is more than or equal to 5 and less than or equal to 9, and b is 1; alternatively, a is 8. ltoreq. 9, and b is 2. Therefore, the fifth condition is: the fuzzy state of the first fuzzy variable is normal, somewhat far, far or far, and the fuzzy state of the second fuzzy variable is slow; alternatively, the fuzzy state of the first fuzzy variable is far or far and the fuzzy state of the second fuzzy variable is general.

And step 206, adjusting the format of the target control instruction. Step 207 is performed.

Since the target control command output by the fuzzy controller in step 205 is only one fuzzy command, and the control device cannot control the components in the vehicle according to the target control command, the format of the target control command can be adjusted again to convert the target control command into a command that can be executed by the control device. Adjusting the format of the target control instruction is equivalent to defuzzifying the target control instruction to obtain an accurate instruction.

Alternatively, the control device may determine a target format corresponding to the fuzzy information indicating the target control instruction according to the one-to-one correspondence relationship between the fuzzy information and the format of the control instruction, and adjust the format of the target control instruction to the target format.

For example, the target control instruction is an instruction for displaying the first warning information, and the formatted target control instruction may be an instruction for controlling a speaker of the vehicle to emit a voice for "please notice the distance to the vehicle ahead". As another example, the target control command is a deceleration command, and the formatted target control command may be a command for controlling the brake pad of the vehicle to be pressed by 5 cm. It should be noted that the format-adjusted target control instruction described in this embodiment of the present application is an exemplary expression, and optionally, the format-adjusted target control instruction may be any other instruction, which is not limited in this embodiment of the present application.

And step 207, controlling components in the vehicle according to the target control command after the format is adjusted.

After determining the accurate target control command (i.e., the formatted target control command), the control device may control the corresponding component in the vehicle according to the formatted target control command.

For example, the formatted target control instruction may be an instruction to control a speaker of the vehicle to send a voice of "please notice the distance to the vehicle ahead", and then a component in the vehicle corresponding to the instruction is the speaker. The control device may control the speaker to emit a voice of "please note the distance to the vehicle ahead" according to the instruction.

In the embodiment of the application, the control device can determine the target control instruction by fuzzifying the target distance and the target speed so as to automatically control the components in the vehicle. Because the fuzzification processing can directly express the experience and perception of people by using a fuzzy variable mode, the control mode obtained according to the fuzzy variable can better accord with the habit of people. In addition, the control method provided by the embodiment of the application does not need to adopt a complex mathematical model, so that the control process is simpler, application scenes can be richer, and the robustness and the flexibility are higher. The control method provided by the embodiment of the application can solve the problem that accurate quantification cannot be realized through a mathematical model in some complex scenes, can prevent the collision accident of the vehicle and the front vehicle, and improves the driving safety of the vehicle.

Fig. 5 is a schematic structural diagram of a control device for a vehicle component according to an embodiment of the present application. As shown in fig. 5, the control device 50 may include:

the acquiring module 501 is configured to acquire a target distance between the vehicle and the obstacle and a target speed of the vehicle relative to the obstacle during the driving of the vehicle.

The first processing module 502 is configured to perform fuzzification processing on the target distance to obtain a first fuzzy variable.

And a second processing module 503, configured to perform fuzzification processing on the target speed to obtain a second fuzzy variable.

The determining module 504 is configured to obtain a target control instruction based on the first fuzzy variable and the second fuzzy variable.

And a control module 505 for controlling components in the vehicle according to the target control instruction.

Optionally, the first processing module 502 may be further configured to:

determining the maximum membership degree corresponding to the target distance based on a first membership function of the distance and the membership degree; wherein, any distance in the first membership function corresponds to at least one membership degree, the at least one membership degree corresponds to at least one distance range in which any distance in the n distance ranges is located, and each membership degree corresponding to any distance is: membership degree of any distance to the distance range corresponding to each membership degree; the n distance ranges correspond to the n fuzzy variables one by one, and n is more than or equal to 2;

determining a fuzzy variable corresponding to a distance range corresponding to the maximum membership degree corresponding to the target distance as a first fuzzy variable;

the second processing module 503 may also be configured to:

determining the maximum membership degree corresponding to the target speed based on a second membership function of the speed and the membership degree; wherein, any speed in the second membership function has at least one membership degree corresponding to at least one speed range in which any speed in the m speed ranges is located, and each membership degree corresponding to any speed is: membership degree of any speed to the speed range corresponding to each membership degree; m speed ranges correspond to m fuzzy variables one by one, and m is more than or equal to 2;

and determining the fuzzy variable corresponding to the speed range corresponding to the maximum membership degree corresponding to the target speed as a second fuzzy variable.

Optionally, n is 9, m is 3, and the determining module 504 may be further configured to:

when the first condition is met, determining that the target control instruction is an instruction for displaying first alarm information; wherein the first condition comprises: a is 4 and b is 1; or, a ═ 7, and b ═ 2; the first fuzzy variable corresponds to the a-th distance range in the n distance ranges, and the second fuzzy variable corresponds to the b-th speed range in the m speed ranges;

when the second condition is met, determining that the target control instruction is an instruction for displaying second alarm information; wherein the second condition comprises: a is 6 and b is 2; or a is 9 and b is 3, and the first alarm information is different from the second alarm information;

when the third condition is met, determining that the target control instruction is a deceleration instruction; wherein the third condition includes: a is more than or equal to 2 and less than or equal to 3, and b is 1; or a is more than or equal to 3 and less than or equal to 5, and b is 2; or, a is 5 ≤ 8, and b is 3;

when the fourth condition is met, determining that the target control instruction is a parking instruction; wherein the fourth condition comprises: a is 1; or a is 2, and 2 is less than or equal to b is less than or equal to 3; alternatively, a is 3. ltoreq.4, and b is 3.

Optionally, the determining module 504 may be further configured to:

when the fifth condition is satisfied, determining the target control command as a command for prohibiting control of a component in the vehicle; the fifth condition includes: a is more than or equal to 5 and less than or equal to 9, and b is 1; alternatively, a is 8. ltoreq. 9, and b is 2.

Alternatively, the control device 50 of the automobile part may further include:

and the adjusting module is used for adjusting the format of the target control instruction.

Optionally, the first processing module 502 may be further configured to:

when the target speed is a positive value, fuzzifying the target distance;

the second processing module 503 may also be configured to:

when the target speed is a positive value, the target speed is subjected to blurring processing.

Optionally, a time difference between the acquired target distance and the acquired target speed is smaller than the duration threshold.

The embodiment of the application also provides a vehicle, which can comprise the control device 50 shown in fig. 5, and components used for controlling the control device 50. The components used by the control device 50 for control may include: the device comprises a camera shooting assembly, a distance measuring assembly, a brake pad, a loudspeaker, a display, a windscreen wiper and the like. The vehicle in the embodiment of the present application may include any vehicle such as an automobile, a motorcycle, and an electric vehicle.

It should be noted that: in the control device for automobile parts according to the above embodiment, when controlling parts of an automobile, only the division of the above functional modules is exemplified, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the control device may be divided into different functional modules to complete all or part of the above described functions.

It should be noted that, the method embodiments provided in the embodiments of the present application can be mutually referred to corresponding apparatus embodiments, and the embodiments of the present application do not limit this. The sequence of the steps of the method embodiments provided in the embodiments of the present application can be appropriately adjusted, and the steps can be correspondingly increased or decreased according to the situation, and any method that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application shall be covered by the protection scope of the present application, and therefore, the details are not repeated.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of controlling a vehicle component, the method comprising:

determining a fuzzy variable corresponding to a speed range corresponding to the maximum membership degree corresponding to the target speed as a second fuzzy variable;

2. The method of claim 1, wherein the minimum value in the ith distance range is less than the minimum value in the (i + 1) th distance range; the maximum value in the ith distance range is smaller than the maximum value in the (i + 1) th distance range, i is more than or equal to 1 and less than or equal to i +1 and less than or equal to n;

3. The method of claim 2, wherein n-9 and m-3, and wherein deriving the target control command based on the first fuzzy variable and the second fuzzy variable comprises:

4. The method of claim 3, wherein deriving a target control command based on the first fuzzy variable and the second fuzzy variable further comprises:

5. The method according to any one of claims 1 to 4, characterized in that before controlling components in the vehicle according to the target control command, the method further comprises:

and adjusting the format of the target control instruction.

6. The method according to any one of claims 1 to 4, wherein the blurring of the target distance comprises:

when the target speed is a positive value, fuzzifying the target distance;

fuzzifying the target speed, wherein the fuzzification processing comprises the following steps:

7. The method of any of claims 1 to 4, wherein the difference in time between obtaining the target distance and obtaining the target speed is less than a duration threshold.

8. A control device of a vehicle component, characterized by comprising:

the first processing module is used for determining the maximum membership degree corresponding to the target distance based on a first membership function of the distance and the membership degree; wherein, any distance in the first membership function corresponds to at least one membership degree, the at least one membership degree corresponds to at least one distance range in which any distance is located in n distance ranges one by one, and each membership degree corresponding to any distance is: the membership degree of the distance range corresponding to each membership degree by any distance; the n distance ranges correspond to the n fuzzy variables one by one, and n is more than or equal to 2; determining a fuzzy variable corresponding to a distance range corresponding to the maximum membership degree corresponding to the target distance as a first fuzzy variable;

the second processing module is used for determining the maximum membership degree corresponding to the target speed based on a second membership function of the speed and the membership degree; wherein, any speed in the second membership function has at least one membership degree corresponding to at least one speed range in which any speed is located in m speed ranges, and each membership degree corresponding to any speed is: the membership degree of any speed to the speed range corresponding to each membership degree; the m speed ranges correspond to the m fuzzy variables one by one, and m is more than or equal to 2; determining a fuzzy variable corresponding to a speed range corresponding to the maximum membership degree corresponding to the target speed as a second fuzzy variable;

9. A vehicle, characterized in that the vehicle comprises: the control device of claim 8, and means for controlling the control device.