Parallel Learning-Based Steering Control for Autonomous Driving
文献类型：期刊论文
| 作者 | Tian, Fangyin2; Li, Zhiheng2,3; Wang, Fei-Yue1 ; Li, Li4
|
| 刊名 | IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
 |
| 出版日期 | 2023 |
| 卷号 | 8期号:1页码:379-389 |
| ISSN号 | 2379-8858 |
| 关键词 | Vehicle dynamics Trajectory Data models Training data Autonomous vehicles Training Predictive models Autonomous driving learning based control parallel learning steering control |
| DOI | 10.1109/TIV.2022.3173448 |
| 通讯作者 | Li, Li(li-li@tsinghua.edu.cn) |
| 英文摘要 | Steering control for autonomous vehicles at high speeds is challenging due to the highly nonlinear vehicle dynamics. The traditional model-based controllers usually degrade significantly in this case. With the development of artificial intelligence, learning-based control methods are emerging as promising alternatives. These methods require a tremendous amount of training data to achieve acceptable performances. However, the data collection process is costly or inefficient. To solve this problem, we propose a parallel learning-based steering control method. Specifically, we first build a neural network (NN) based trajectory generative model (GeneratingNN) based on limited steering-trajectory raw data. The GeneratingNN can efficiently generate sufficient steering-trajectory data by enumerating the allowable steering actions sequences. Then, based on the raw data and generated data, we train another NN (RecallingNN) to learn the inverse mapping relationship between steering actions and trajectories. Hence, the RecallingNN can efficiently recall appropriate steering actions once given the previewed trajectory points. In addition, to further enhance the control accuracy and robustness, we use a simple feedback controller to handle the unmodeled dynamics and external disturbance. Testing results validate that the proposed method can achieve better tracking accuracy, stability and computational efficiency. |
| WOS关键词 | MODEL-PREDICTIVE CONTROL ; PATH-FOLLOWING CONTROL ; TRACKING ; VEHICLE ; AVOIDANCE |
| 资助项目 | Key-Area Research and Development Program of Guangdong Province[2020B0909050003] |
| WOS研究方向 | Computer Science ; Engineering ; Transportation |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000965971100001 |
| 资助机构 | Key-Area Research and Development Program of Guangdong Province |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53206]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Li, Li |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Controlfor Complex Syst, Beijing 100080, Peoples R China 2.Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China 3.Tsinghua Univ, Grad Sch Shenzhen, Shenzhen 518055, Peoples R China 4.Tsinghua Univ, Dept Automat, BNRist, Beijing 100084, Peoples R China |
| 推荐引用方式 GB/T 7714 | Tian, Fangyin,Li, Zhiheng,Wang, Fei-Yue,et al. Parallel Learning-Based Steering Control for Autonomous Driving[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2023,8(1):379-389. |
| APA | Tian, Fangyin,Li, Zhiheng,Wang, Fei-Yue,&Li, Li.(2023).Parallel Learning-Based Steering Control for Autonomous Driving.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,8(1),379-389. |
| MLA | Tian, Fangyin,et al."Parallel Learning-Based Steering Control for Autonomous Driving".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 8.1(2023):379-389. |
入库方式： OAI收割
来源：自动化研究所
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