This paper presented a driver steering controller using an idea of target position. A fuzzy neural system was applied to design the driver's decision-making process in tracking a target position. A cubic B-spline curve was then employed to generate more flexible paths of lane change to a target position. Additionally, in order to achieve the desired controlling performance, the parameters of the fuzzy neural network were tuned using a new iterative learning control (ILC) mixed time-domain and iteration-domain adaptation. Results from the simulation of the obstacle avoidance show that the tracking error gradually converges to zero as the iteration times increasing.


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    Title :

    An iterative control for driving model based on fuzzy neural network


    Contributors:
    Tang, Jin-jun (author) / Wang, Guo-zhong (author) / Liu, Fang (author) / Tang, Jin-min (author)


    Publication date :

    2010


    Size :

    5 Seiten, 19 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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