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| 基于BP神经网络的车道保持控制系统 | |
| 引用本文： | 金立生,方文平,候海晶,孙玉芹. 基于BP神经网络的车道保持控制系统[J]. 吉林大学学报(工学版), 2010, 40(3) |
| 作者姓名： | 金立生 方文平 候海晶 孙玉芹 |
| 作者单位： | 1. 吉林大学交通学院,长春,130022;吉林大学汽车动态模拟国家重点实验室,长春,130022 2. 吉林大学交通学院,长春,130022 |
| 基金项目： | 国家自然科学基金项目(50908098);;吉林省国际科技合作项目(20080706);;吉林大学基本科研业务专项资金项目 |
| 摘 要： | 利用机械动力学仿真软件ADAMS/CAR建立了主要包括用于进行自主控制的转向系统及可输出状态变量车身模型的整车动力学模型,在MATLAB/Simulink环境下设计了基于BP神经网络PID的车道保持控制系统。通过输入输出接口实现了整车模型与Matlab的通信。利用建立的Matlab控制模块和ADAMS机械系统动力学模型实现了车道保持控制的联合仿真。仿真结果表明,所设计的车道保持控制系统能较好地实现在危险状态下的车道保持自主控制,且控制过程平稳。 |
| 关 键 词： | 交通运输安全工程 车道保持 联合仿真 BP神经网络 |
Co-simulation of lane keeping control system based on BP neural network |
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| JIN Li-sheng,FANG Wen-ping,HOU Hai-jing,SUN Yu-qin. Co-simulation of lane keeping control system based on BP neural network[J]. Journal of Jilin University:Eng and Technol Ed, 2010, 40(3) | |
| Authors: | JIN Li-sheng FANG Wen-ping HOU Hai-jing SUN Yu-qin |
| Affiliation: | 1.College of Transportation;Jilin University;Changchun 130022 China;2.State Key Laboratory of Automobile Dynamic Simulation;Changchun 130022;China |
| Abstract: | A vehicle dynamics model incorporating mainly the steering system for self-control and the vehicle body model for output of state variables was built using the mechanical dynamics simulation software ADAMS/CAR.A control system for lane-keeping was designed in the environment of MATLAB/Simulink based on the BP neural network and PID control algorithm.The communication between the vehicle dynamics model and the Matlab module was established by input/output interface.The co-simulation of the lane-keeping contr... |
| Keywords: | transportation safety engineering lane keeping co-simulation BP neural network |
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