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; k8 p$ _/ u8 ~A novel steering controller for autonomous vehicles is proposed in this paper. For autonomous vehicles, the efficiency
$ X0 T7 r. H" J2 W/ [" X( Qis 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
' }8 E! J9 m3 K: L, A1 v9 nof vehicle steering and correct it in real time. Then we adopt a policy iteration adaptive dynamic programming (ADP) to get the
5 ~5 W- }) q6 F( {% l: R4 }8 ?optimal control law and deploy it to autonomous vehicles. Eventually, the performance of the controller was evaluated using
+ o" R* A$ n% V" SMatlab 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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