文章基本信息

标题：A Lateral Control Method of Intelligent Vehicle Based on Fuzzy Neural Network
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作者：Linhui Li ; Hongxu Wang ; Jing Lian 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：1
页码：296209
DOI：10.1155/2014/296209
语种：English
出版社：Sage Publications Ltd.
摘要：A lateral control method is proposed for intelligent vehicle to track the desired trajectory. Firstly, a lateral control model is established based on the visual preview and dynamic characteristics of intelligent vehicle. Then, the lateral error and orientation error are melded into an integrated error. Considering the system parameter perturbation and the external interference, a sliding model control is introduced in this paper. In order to design a sliding surface, the integrated error is chosen as the parameter of the sliding mode switching function. The sliding mode switching function and its derivative are selected as two inputs of the controller, and the front wheel angle is selected as the output. Next, a fuzzy neural network is established, and the self-learning functions of neural network is utilized to construct the fuzzy rules. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed method.