中国邮电高校学报(英文) ›› 2017, Vol. 24 ›› Issue (2): 10-17.doi: 10.1016/S1005-8885(17)60194-8

• Artificial Intelligence • 上一篇    下一篇

Lateral control of autonomous vehicles based on learning driver behavior via cloud model

高洪波1,Xie Guotao1,Liu Hongzhe2,张新钰2,李德毅2   

  1. 1. 清华大学汽车安全与节能国家重点实验室
    2. 清华大学
  • 收稿日期:2016-12-19 修回日期:2017-03-29 出版日期:2017-04-30 发布日期:2017-04-30
  • 通讯作者: 张新钰 E-mail:xyzhang@tsinghua.edu.cn
  • 基金资助:
    国家自然科学基金重点项目;国家自然科学基金重点项目;国家自然科学基金重点项目;国家自然科学基金重点项目;国家自然科学基金重点项目;国家自然科学基金重点项目

Lateral control of autonomous vehicles based on learning driver behavior via cloud model

  • Received:2016-12-19 Revised:2017-03-29 Online:2017-04-30 Published:2017-04-30
  • Contact: Xin-Yu ZHANG E-mail:xyzhang@tsinghua.edu.cn
  • Supported by:
    the National Natural Science Foundation of China (61035004, 61273213, 61300006, 61305055, 90920305, 61203366, 91420202, 61571045, 61372148), the National Hi-Tech Research and Development Program of China (2015AA015401), the National Basic Research Program of China (2016YFB0100906, 2016YFB100903), the Junior Fellowships for Advanced Innovation Think-Tank Program of China Association for Science and Technology (DXB-ZKQN-2017-035), the Beijing Municipal Science and Technology Commission Special Major (D171100005017002).

摘要: In order to achieve the lateral control of the intelligent vehicle, use the bi-cognitive model based on cloud model and cloud reasoning, solve the decision problem of the qualitative and quantitative of the lateral control of the intelligent vehicle. Obtaining a number of experiment data by driving a vehicle, classify the data according to the concept of data and fix the input and output variables of the cloud controller, design the control rules of the cloud controller of intelligent vehicle, and clouded and fix the parameter of cloud controller: expectation, entropy and hyper entropy. In order to verify the effectiveness of the cloud controller, joint simulation platform based on Matlab/Simulink/CarSim is established. Experimental analysis shows that: driver’s lateral controller based on cloud model is able to achieve tracking of the desired angle, and achieve good control effect, it also verifies that a series of mental activities such as feeling, cognition, calculation, decision and so on are fuzzy and uncertain.

关键词: cloud model, driver behavior, autonomous vehicles, lateral control

Abstract: In order to achieve the lateral control of the intelligent vehicle, use the bi-cognitive model based on cloud model and cloud reasoning, solve the decision problem of the qualitative and quantitative of the lateral control of the intelligent vehicle. Obtaining a number of experiment data by driving a vehicle, classify the data according to the concept of data and fix the input and output variables of the cloud controller, design the control rules of the cloud controller of intelligent vehicle, and clouded and fix the parameter of cloud controller: expectation, entropy and hyper entropy. In order to verify the effectiveness of the cloud controller, joint simulation platform based on Matlab/Simulink/CarSim is established. Experimental analysis shows that: driver’s lateral controller based on cloud model is able to achieve tracking of the desired angle, and achieve good control effect, it also verifies that a series of mental activities such as feeling, cognition, calculation, decision and so on are fuzzy and uncertain.

Key words: cloud model, driver behavior, autonomous vehicles, lateral control

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