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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2 Z/ Q3 D7 U$ g0 }; }3 \9 O7 JA novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
6 T! B) _+ H  sis 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
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
# G. ?6 s/ a: Z' ~- W" wMatlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
. j6 ~, ^( f7 R: z. o; N" hcontroller for autonomous vehicles' system.
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