Intelligent Vehicle Human-Simulated Steering Characteristics Access and Control Strategy

doi:10.1007/s12204-018-2031-9

Abstract

Abstract: As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering characteristics. Intelligent vehicle unmanned steering system dynamics model and the driver model are set up. Through experienced drivers’ trial run experiment, the analysis is mainly conducted on the double lanes condition. After the transformation of coordinates on global positioning system (GPS) derivative, the path information of local coordinates is accessed. The ideal driver steering path is obtained through fuzzy C-means clustering algorithm. The human-simulated intelligent controller is designed. Characteristic model is established according to the ideal and practical steering angle deviation and the deviation rate. Besides, the corresponding control rules and control modality set are designed. The joint simulation under CarSim joint/Simulink environment shows that the humanoid steering controller designed in this paper has better tracking performance than the model predictive control.

Key words: intelligent vehicle| experienced driver| steering characteristics| human-simulated intelligent control

摘要： As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering characteristics. Intelligent vehicle unmanned steering system dynamics model and the driver model are set up. Through experienced drivers’ trial run experiment, the analysis is mainly conducted on the double lanes condition. After the transformation of coordinates on global positioning system (GPS) derivative, the path information of local coordinates is accessed. The ideal driver steering path is obtained through fuzzy C-means clustering algorithm. The human-simulated intelligent controller is designed. Characteristic model is established according to the ideal and practical steering angle deviation and the deviation rate. Besides, the corresponding control rules and control modality set are designed. The joint simulation under CarSim joint/Simulink environment shows that the humanoid steering controller designed in this paper has better tracking performance than the model predictive control.

关键词: intelligent vehicle| experienced driver| steering characteristics| human-simulated intelligent control

CLC Number:

U 461

HUA Yiding (华一丁), GONG Jinfeng (龚进峰), RONG Hui (戎辉), WANG Wenyang (王文扬), GUO Peng (郭蓬), HE Jia (何佳). Intelligent Vehicle Human-Simulated Steering Characteristics Access and Control Strategy[J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(Sup. 1): 117-123.

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