A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive Dynami...

杨利霞

A Novel Steering Control for Real Autonomous Vehicles via PI Adaptive

Dynamic Programming  

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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
- F% a1 |+ A& @: P, m8 t3 _is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
of vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
! n, Y# D  O7 Z& ]( f" Ooptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
, U1 J, n" r( B7 X4 W, vMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
6 g$ }2 P( ^) J8 ^6 ], ]9 K" H4 mcontroller for autonomous vehicles' system.

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