基于模糊神经网络的智能汽车轨迹跟踪研究*

doi:10.19562/j.chinasae.qcgc.2019.08.014

Abstract

Abstract: Based on the research of the traditional dynamics model and preview model, a kind of path tracking controller is designed in view of the theory of neural network and fuzzy control. Utilizing the self-learning and self-adjusting characteristics of neural network, combined with the advantages of fuzzy control, a kind of network is designed to predict the speed of vehicle and its output and lateral deviation are taken as the input of the fuzzy network to control the steering angle. Finally, the joint simulation by CarSim and Matlab/Simulink software is carried out and the actual vehicle experiment is done, having verified the effectiveness and accuracy of the designed controller

Key words: intelligent vehicle, path tracking, neural network, fuzzy control

Zhang Bingli, Li Zilong, Shen Gan, Fang Tao, Cao Congcong, Zheng Pingping. A Research on Path Tracking of Intelligent Vehicle Based on Fuzzy Neural Network[J].Automotive Engineering, 2019, 41(8): 953-959.

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A Research on Path Tracking of Intelligent Vehicle Based on Fuzzy Neural Network

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