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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, Q. h. D3 `' U3 I% N. z! j% {A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
" W1 g! e4 ?2 M$ V* E5 Qis an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
- ^0 {% m0 g! A. `# p& @* othe 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
7 r( L6 O2 g( `9 jMatlab 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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