Control Method For Intelligent Vehicle Based On Hierarchical Neighborhood System

Under the wave of AI,many manufacturers have announced the era of intelligent robots and smart cars.But their related theories and technologies are confidential,so the theory and technology research of smart cars is still of great significance.To realize intelligent driving,we should not only consider the choice of the road in real time,but also deal with the vehicle's driving in the current road in real time.In this paper,the theory of stratified neighborhood and factor vector is used to study it.First,in order to realize the intelligent driving of vehicle,the neighborhood system of vehicle is divided into vehicle road hierarchical neighborhood system and current driving road hierarchical neighborhood system.The two systems are determined by different factor vectors.They are expanded and screened according to their respective factor vectors.The corresponding relationship between objects and factor sets is established by using multidimensional fuzzy soft sets,so as to control conveniently.The portrayal of a system needs to consider various factors,but the factors also have the advantages and disadvantages.The closer the orthogonal vectors are more convenient and effective,the concept of vector fuzzy correlation and fuzzy independence is established.And the relationship between vector fuzzy correlation and irrelevance and normal vector correlation is derived theoretically.The concept of space expression ability is put forward to realize the comparison and difference between fuzzy correlation and unrelated vector.In order to realize the transformation of two levels in the neighborhood system,linear weighted and PID control ideas are introduced.The change of time is taken as the reference coefficient,and the transformation of the two levels of the neighborhood system is realized according to the change of the coefficient.According to different types of factors,different treatment ideas are adopted,that is,the integral method and differential method are used to deal with the continuous and abrupt factors respectively.In view of the normal running mode,the proportional processing scheme is adopted,that is,with the help of the control idea of PID,the realization of the overall intelligent decision is completed.Based on the theory of hierarchical neighborhood systems,the control rules at different levels determine their respective standard feasible neighborhood.In the neighborhood system of the road,vehicle determines the standard feasible neighborhood according to the distance between vehicles and the distance between vehicles and road boundaries.In the neighborhood system of the road level,the road is taken as the object,and the distance between each road is studied to select the standard feasible neighborhood.In the intersection turning problem,it includes the road determined by the road level neighborhood system and the feasible neighborhood chosen by the vehicle in the current road for the completion of the steering.Thus,the vehicle standard feasible neighborhood is determined according to the interaction degree between the fixed neighborhood of the road and the feasible neighborhood of the current vehicle,and then the intelligent turning of the intersection is realized.Finally,a simulation experiment on the control algorithm of the hierarchical neighborhood system based on Matlab is carried out in the intersection turning of vehicles,which shows the effectiveness of the above methods.