文献类型：期刊文献

中文题名：Lateral control of autonomous vehicles based on learning driver behavior via cloud model

英文题名：Lateral control of autonomous vehicles based on learning driver behavior via cloud model

作者：Gao Hongbo[1,2];Xie Guotao[1];Liu Hongzhe[2];Zhang Xinyu[3];Li Deyi[1,4]

第一作者：Gao Hongbo

机构：[1]State Key Laboratory of Automotive Safety and Energy,Tsinghua University;[2]Beijing Key Laboratory of Information Service Engineering,Beijing Union University;[3]Information Technology Center,Tsinghua University;[4]The 61th Institute of Electronic System Engineering

第一机构：State Key Laboratory of Automotive Safety and Energy,Tsinghua University

年份：2017

卷号：24

期号：2

起止页码：10-17

中文期刊名：中国邮电高校学报：英文版

收录：Scopus;CSCD:【CSCD2017_2018】；

基金：supported by the National Natural Science Foundation of China (61035004,61273213,61300006,61305055,90920305,61203366,91420202,61571045,61372148);the National Hi-Tech Research and Development Program of China (2015AA015401);the National Basic Research Program of China (2016YFB0100906,2016YFB100903);the Junior Fellowships for Advanced Innovation Think-Tank Program of China Association for Science and Technology (DXB-ZKQN-2017-035);the Beijing Municipal Science and Technology Commission Special Major (D171100005017002)

语种：英文

中文关键词：自主车辆;MATLAB/Simulink;侧向控制;行为;驱动;学习;智能车辆;横向控制

外文关键词：cloud model, driver behavior, autonomous vehicles, lateral control

摘要：In order to achieve the lateral control of the intelligent vehicle, use the bi-cognitive model based on cloud model and cloud reasoning, solve the decision problem of the qualitative and quantitative of the lateral control of the intelligent vehicle. Obtaining a number of experiment data by driving a vehicle, classify the data according to the concept of data and fix the input and output variables of the cloud controller, design the control rules of the cloud controller of intelligent vehicle, and clouded and fix the parameter of cloud controller: expectation, entropy and hyper entropy. In order to verify the effectiveness of the cloud controller, joint simulation platform based on Matlab/Simulink/Car Sim is established. Experimental analysis shows that: driver's lateral controller based on cloud model is able to achieve tracking of the desired angle, and achieve good control effect, it also verifies that a series of mental activities such as feeling, cognition, calculation, decision and so on are fuzzy and uncertain.
In order to achieve the lateral control of the intelligent vehicle, use the bi-cognitive model based on cloud model and cloud reasoning, solve the decision problem of the qualitative and quantitative of the lateral control of the intelligent vehicle. Obtaining a number of experiment data by driving a vehicle, classify the data according to the concept of data and fix the input and output variables of the cloud controller, design the control rules of the cloud controller of intelligent vehicle, and clouded and fix the parameter of cloud controller： expectation, entropy and hyper entropy. In order to verify the effectiveness of the cloud controller, joint simulation platform based on Matlab/Simulink/CarSim is established. Experimental analysis shows that： driver＇s lateral controller based on cloud model is able to achieve tracking of the desired angle, and achieve good control effect, it also verifies that a series of mental activities such as feeling, cognition, calculation, decision and so on are fuzzy and uncertain.