Intelligent driver model construction method based on CMAC

A technology of driver model and construction method, which is applied in the field of CMAC-based intelligent driver model construction, can solve problems such as inability to guarantee system control stability, failure to meet the real-time performance of the control system, and driver model complexity, so as to improve over-learning Phenomena, improve stability and anti-interference ability, good real-time effect

Pending Publication Date: 2022-05-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Some of the driver models established above are more complex and cannot meet the real-time performance of the control system, and some have poor anti-interference ability and cannot guarantee the stability of the system control

Method used

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  • Intelligent driver model construction method based on CMAC
  • Intelligent driver model construction method based on CMAC
  • Intelligent driver model construction method based on CMAC

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Embodiment Construction

[0059] Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:

[0060] The present invention may be embodied in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0061] like figure 1 As shown, the present invention discloses a CMAC-based intelligent driver model construction method, which includes the following steps:

[0062] Step 1), a lateral acceleration sensor, a yaw rate sensor, and an inclination sensor are arranged on the vehicle, wherein the lateral acceleration sensor is used to obtain the lateral speed of the vehicle, and the yaw rate sensor is used to obtain the yaw rate of the vehicle. , the inclination sensor is used to...

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Abstract

The invention discloses a CMAC-based intelligent driver model construction method, which adopts a CMAC local neural network and a single neuron adaptive PID controller as decision modules of a driver model, and the CMAC neural network has locality, that is, only activated weights are updated after learning each time, so that the CMAC neural network has good real-time performance. The single-neuron adaptive PID controller is a single-neuron network which is designed according to incremental PID and can change proportion, integral and differential coefficients in real time, and the stability and the anti-interference capability of the controller can be improved. According to the method, the CMAC neural network and the adaptive neuron controller form a composite controller, the adaptive neuron controller can be used for judging the performance of the CMAC controller, the stability and the anti-interference capability of a control system can be improved, and the method has the advantages of being good in real-time performance, small in output error and high in robustness.

Description

technical field [0001] The invention relates to the technical field of automobile automatic control, in particular to a method for constructing an intelligent driver model based on CMAC. Background technique [0002] A car driver model is a complex control system, a mathematical representation of the driver's behavior in manipulating the car. The driver model includes perception, decision-making, and execution modules. The perception module can obtain road information and vehicle status information. The decision-making module obtains the optimal output through a certain mathematical model and based on the information from the perception module, and the execution module simulates human drivers. of nerve and muscle delayed behavior. The driver model is divided into the compensation tracking driver model, the preview driver model and the intelligent driver model. The compensated tracking driver model decides the output angle according to the distance between the lateral posit...

Claims

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Application Information

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IPC IPC(8): B60W40/00B60W40/10B60W40/109
CPCB60W40/00B60W40/10B60W40/109Y02T10/40
Inventor 金智林付林凯何少炜
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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