RESEARCH ON INTELLIGENT VEHICLE AUTONOMOUS OVERTAKING BASED ON SINGLE NEURON PID CONTROL

摘要：

　　Based on the non-linearities and time-varying property of lateral kinematics model for intelligent vehicles,an improved overtaking model based on Bezier curve was proposed and a single neuron PID tracking control strategy was designed for overtaking.Compared with conventional path tracking methods,this controller only needs the angle between the horizontal plane and the vertical plane and the horizontal distance without considering the strict curve tracking,which is more similar to human driving.Of the 120kms test,the total overtaking count was 25,success rate was 92%.Test results show that the improved model could reflect the overtaking process,and prove the correctness and feasibility of this controller.

关键词： Intelligent vehicles single neuron PID overtaking Bezier curve

作者: Yuan Zhu Mingyue Feng Xiao Wang Xinxi Xu

作者单位: Institute of Medical Equipment,Academy of Military Medical Sciences,Tianjin 300161,China;Department Department of Automobile Engineering,Academy of Military Transportation,Tianjin 300161,China Institute of Medical Equipment,Academy of Military Medical Sciences,Tianjin 300161,China

会议类型: 国际会议

会议名称: 2012 2nd IEEE International Conference on Cloud Computing and Intelligence Systems (2012年第2届IEEE云计算与智能系统国际会议(IEEE CCIS2012))

会议地点: 杭州

会议语种:英文

页码: 1638-1641

在线出版日期: 2012-10-30（万方平台首次上网日期，不代表论文的发表时间）