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' `2 M' b+ g8 j# M$ gA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
% G8 q3 B+ t: m2 J: T% o7 Ais 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
1 `& T+ h; b% D% L% f# k$ jof 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
# M6 Y. V# m* k! Y, k- iMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
- V. m7 R5 }' C' q) Kcontroller for autonomous vehicles' system.

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