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A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive
g# p6 W. c1 zDynamic Programming
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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency , E$ Z6 a) u; r/ `
is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on " g5 `; {4 V: [1 _, S/ O4 A
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
+ ?' x2 G! R a; Rof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
2 r7 d2 y# h' K/ e+ f2 \( A/ Coptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
: N* o5 u+ J# J/ a, ~( VMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
; y1 J+ [4 s. G) vcontroller for autonomous vehicles' system.
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发表于 2020-11-10 15:34
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