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.
An iterative control for driving model based on fuzzy neural network
2010
5 Seiten, 19 Quellen
Conference paper
English
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