Vehicle Lane Keeping Single Neural Network Control With Driver Behavior

Document Number: 2004-01-2108

Date Published: December 2004

Author(s):
Zhenhai Gao - Jilin Univ.

Abstract:
According to the nonlinear and parameter time-varying characteristics of vehicle lateral dynamics, a novel algorithm of vehicle lateral adaptive PID control with single neuron network was proposed. Based on self-learning and adaptive ability of single nueral network, the parameters of vehicle lateral PID controller were self-tuning on-line and the problem of large computation time brought by traditional adaptive PID control was avoided, in which the parameters of reference model of the controlled system must be identified with large calculation burden. The results of the simulation and field experiment show this algorithm can effectively control vheicle to keep and track the pre-given target trajectory, and has good robustness and adaptability for vehicle lateral nonlinear dynamics.

File Size: 139K
Product Status: In Stock

See other papers presented at Non-Conference Specific Technical Papers - 2004, July 2005, Troy, MI, USA, Session: Non-Conference Specific Technical Papers - 2004

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