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
$ E9 j' \& {  kis an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
7 T3 V8 N, F* n) `( |7 G: b0 _0 k  N$ Jthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
5 ~* f0 G& w8 r* v, U, F1 sof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
4 y4 P: T6 y  }( d' X, ]: m; CMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
6 g7 S9 e+ ]- v) J$ mcontroller for autonomous vehicles' system.

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