Research on Adaptive Control Method of Autonomous Vehicle Lateral Motion
This paper studies the application of the adaptive control method in lateral control of the autonomous vehicle. Based on the classical PID control, the design scheme accomplishes online parameter self-tuning of PID controller through the single neuron. It designs a non-model and non-parametric adaptive control method. On the basis of the preview follow theory and two degrees of freedom linear model, we establish the vehicle control model and verify the control method of the lateral control with the MATLAB simulation. The simulation results show that the control method can more effectively control the longitudinal stability of a vehicle and have better real-time performance than methods which need a precise mathematical model or need to define a model and its parameters.
adaptive lateral control preview model PID autonomous vehicle
Gu Jun Zhou Huapeng
Department of Information Engineering JIANGSU Radio and TV University Nanjing, China College of Energy & Power Engineering Nanjing University of Aeronautics and Astronautics, NUAA Nanji
国际会议
太原
英文
320-324
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）