A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this functio...A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.展开更多
This article presents a multiobjective approach to the design of the controller for the swing-up and handstand control of a general cart-double-pendulum system （CDPS）. The designed controller, which is based on the ...This article presents a multiobjective approach to the design of the controller for the swing-up and handstand control of a general cart-double-pendulum system （CDPS）. The designed controller, which is based on the human-simulated intelligent control （HSIC） method, builds up different control modes to monitor and control the CDPS during four kinetic phases consisting of an initial oscillation phase, a swing-up phase, a posture adjustment phase, and a balance control phase. For the approach, the original method of inequalities-based （MoI） multiobjective genetic algorithm （MMGA） is extended and applied to the case study which uses a set of performance indices that includes the cart displacement over the rail boundary, the number of swings, the settling time, the overshoot of the total energy, and the control effort. The simulation results show good responses of the CDPS with the controllers obtained by the proposed approach.展开更多
Based on the control theories of PID, fuzzy logic and expert PID, the driver models are built and applied in the forward simulation for hybrid electric vehicles （HEV）. The impact to the vehicle speed tracking and th...Based on the control theories of PID, fuzzy logic and expert PID, the driver models are built and applied in the forward simulation for hybrid electric vehicles （HEV）. The impact to the vehicle speed tracking and the fuel economy is compared among the different driver models. The different human-simulated characteristics of the driver models are emphatically analyzed. The analysis results indicate that the driver models based on PID, simple fuzzy logic and expert PID are corresponding to the handling characteristics of different drives. The driver models of different human-simulated characteristics bring the handling divergence of drivers with different driving level and habit to the HEV forward simulation, and that is significant to the all-around verification and validation of the control strategy for HEV. System simulation results of different driver models validate the impact of driver models to the dynamic and fuel economy performance of HEV.展开更多
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 c...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.展开更多
基金This project is supported by Key Technology R & D Program of China during the 10th 5-year Plan Period(No.2002BA404A21)State Key Laboratory of Automobile Safety and Energy, China(No.KF2005-004).
文摘A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.
基金supported by the National Science Council, Taiwan(No. 96-2221-E-327-027, No. 96-2221-E-327-005-MY2, and No. 96-2628-E-327-004-MY3).
文摘This article presents a multiobjective approach to the design of the controller for the swing-up and handstand control of a general cart-double-pendulum system （CDPS）. The designed controller, which is based on the human-simulated intelligent control （HSIC） method, builds up different control modes to monitor and control the CDPS during four kinetic phases consisting of an initial oscillation phase, a swing-up phase, a posture adjustment phase, and a balance control phase. For the approach, the original method of inequalities-based （MoI） multiobjective genetic algorithm （MMGA） is extended and applied to the case study which uses a set of performance indices that includes the cart displacement over the rail boundary, the number of swings, the settling time, the overshoot of the total energy, and the control effort. The simulation results show good responses of the CDPS with the controllers obtained by the proposed approach.
基金Supported by the National Natural Science Foundation of China(50905018)
文摘Based on the control theories of PID, fuzzy logic and expert PID, the driver models are built and applied in the forward simulation for hybrid electric vehicles （HEV）. The impact to the vehicle speed tracking and the fuel economy is compared among the different driver models. The different human-simulated characteristics of the driver models are emphatically analyzed. The analysis results indicate that the driver models based on PID, simple fuzzy logic and expert PID are corresponding to the handling characteristics of different drives. The driver models of different human-simulated characteristics bring the handling divergence of drivers with different driving level and habit to the HEV forward simulation, and that is significant to the all-around verification and validation of the control strategy for HEV. System simulation results of different driver models validate the impact of driver models to the dynamic and fuel economy performance of HEV.
基金the National Key Research and Development Plan(No.2017YFB0102500)the Tianjin Science and Technology Commission Artificial Intelligence Major Project(No.17ZRXGGX00130)the Key Issues of China Automotive Technology and Research Center Co.,Ltd.(No.16190125)
文摘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.
