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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' t; E6 k' d% P- @A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
2 {; E% H0 M( a7 Ais 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
4 ]5 T6 b% y6 w) `, F+ C/ ]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
) Z- t( f3 g7 U/ Y  {  `Matlab simulation. Results verify the feasibility of the theory and show the steering controller is one kind of effective, smooth
+ k1 }# E3 l. m2 W1 O$ E9 Scontroller for autonomous vehicles' system.


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