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
4 V4 A) M8 T. M7 U$ iis an important indicator, in order to reduce the training cost and improve the real-time performance while the car is running on
- {1 U" n2 s: Z) Qthe road, Offline plus online training is proposed in this paper. Offline plus online training is presented to build a model network
( {  Q: k7 q- u* V& P, Uof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
  ~" x% G! a7 g2 ^( Soptimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
8 G9 A0 O, G. ]( s2 t0 m( C2 ?9 V- eMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
& [' w: h: l# h1 i) ^controller for autonomous vehicles' system.
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