【作者】 袁逸凡； 梁军； 刘昌宁； 陈磊； 吴龙伟； 陈龙； 江浩斌；

【Author】 Liang Jun;Yuan Yifan;Liu Changning;Chen Lei;Wu Longwei;Chen Long;Jiang Haobin;Automotive Engineering Research Institute,Jiangsu University;

【机构】 江苏大学汽车工程研究院；

【摘要】 针对现有的无人驾驶系统响应慢、超调、震荡等不足,构建了基于神经网络的无人驾驶车辆动力学模型,提出了车辆横向和纵向动力学模型的优化PID控制方法。Prescan仿真实验结果表明,提出的纵向动力学模型对突变的指令有快速正确的反应,横向动力学模型有着良好的稳定性和鲁棒性,对车辆的控制更加稳定、快速、精准。更多还原

【Abstract】 A neural network based unmanned driving model proposed aim at the defect in existed model like low response speed,overshoot and shock.And we proposed the control method based on advanced PID for longitude and lateral vehicle dynamic control.Simulate result in PreScan showed that:longitude dynamic model proposed have a rapid and correct response to mutant instruction,lateral dynamic model proposed has enhanced stability and robust,this model provide a better performance for more stable,rapid and accurate control.更多还原