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

3 m; d4 D0 k+ l/ _7 K

Dynamic Programming

5 w- y0 c# L$ s+ y

) q4 |1 k& Z' g% |% t8 d

) D9 e; G. M) Y' D1 c. M1 k% z' `
) O. B# K' N& t. X/ \2 `, e8 ZA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
. Y5 K6 f! O* ~9 x: wis an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
, z% U9 A$ o& k6 Wthe 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
optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
controller for autonomous vehicles' system.
3 {+ t( f- Y; b; l5 h) _$ Y

1 D: |$ ~% d; c+ k7 m9 {