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

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Dynamic Programming  

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A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
' t  m  w% R1 x# |is an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
! D* i- Q5 z# z+ C6 u) S; }the road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
& @! ]- n: `( V+ _4 d: w2 qof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
, J1 `0 n: `$ Coptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
; Z, T& e5 Y1 q2 q* vMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
controller for autonomous vehicles' system.
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