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Intelligent Vehicle Human-Simulated Steering Characteristics Access and Control Strategy

  • Yiding Hua (华一丁)Email author
  • Jinfeng Gong (龚进峰)
  • Hui Rong (戎辉)
  • Wenyang Wang (王文扬)
  • Peng Guo (郭蓬)
  • Jia He (何佳)
Article
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Abstract

As the traditional control algorithm is over-dependent on accurate vehicle model in intelligent vehicle steering control, a human-simulated intelligent control method is proposed based on experienced driver steering characteristics. Intelligent vehicle unmanned steering system dynamics model and the driver model are set up. Through experienced drivers’ trial run experiment, the analysis is mainly conducted on the double lanes condition. After the transformation of coordinates on global positioning system (GPS) derivative, the path information of local coordinates is accessed. The ideal driver steering path is obtained through fuzzy C-means clustering algorithm. The human-simulated intelligent controller is designed. Characteristic model is established according to the ideal and practical steering angle deviation and the deviation rate. Besides, the corresponding control rules and control modality set are designed. The joint simulation under CarSim joint/Simulink environment shows that the humanoid steering controller designed in this paper has better tracking performance than the model predictive control.

Key words

intelligent vehicle experienced driver steering characteristics human-simulated intelligent control 

CLC number

U 461 

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Copyright information

© Shanghai Jiaotong University and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Yiding Hua (华一丁)
    • 1
    • 2
    Email author
  • Jinfeng Gong (龚进峰)
    • 3
  • Hui Rong (戎辉)
    • 3
  • Wenyang Wang (王文扬)
    • 3
  • Peng Guo (郭蓬)
    • 3
  • Jia He (何佳)
    • 3
  1. 1.CATARC (Tianjin) Automotive Engineering Research Institute Co., Ltd.TianjinChina
  2. 2.School of Mechanical EngineeringTianjin UniversityTianjinChina
  3. 3.China Automotive Technology and Research Center Co., Ltd.TianjinChina

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