Lateral control of autonomous vehicles based on learning driver behavior via cloud model |
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| Authors: | Gao Hongbo Xie Guotao Liu Hongzhe Zhang Xinyu Li Deyi |
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| Affiliation: | 1. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China;2. Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing 100101, China;3. Information Technology Center, Tsinghua University, Beijing 100084, China;4. The 61th Institute of Electronic System Engineering, Beijing 100039, China |
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| 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. |
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| Keywords: | cloud model driver behavior autonomous vehicles lateral control |
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