Mixture Modules Based Intelligent Control System for Autonomous Driving - Artificial Intelligence Applications and Innovations Access content directly
Conference Papers Year : 2019

Mixture Modules Based Intelligent Control System for Autonomous Driving

Tangyike Zhang
  • Function : Author
  • PersonId : 1056752
Songyi Zhang
  • Function : Author
  • PersonId : 1056753
Yu Chen
  • Function : Author
  • PersonId : 1033457
Chao Xia
  • Function : Author
  • PersonId : 1033458
Shitao Chen
  • Function : Author
  • PersonId : 1033456
Nanning Zheng
  • Function : Author
  • PersonId : 1033459

Abstract

As a typical artificial intelligence system, a safe and comfortable control system is essential for self-driving vehicles to have the same level of driving ability as human drivers. This paper proposes a novel control system for autonomous driving vehicles based on mixture modules, which aims to ensure the accuracy of path tracking while meeting the requirements of safety and ride comfort. The mixture modules consist of a lateral controller to control the steering wheel angle of the vehicle for path tracking and a longitudinal controller to adjust the speed of the vehicle. We conducted a series of experiments on our simulation platform and real self-driving vehicles to test the proposed control system and compared it with the traditional methods which are widely used. The experimental results indicate that our control system can run effectively on real vehicles. It may accurately track the intended driving path and adjust the driving speed comfortably and smoothly, which demonstrates a high level of intelligence.
Fichier principal
Vignette du fichier
483292_1_En_7_Chapter.pdf (1.07 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02331286 , version 1 (24-10-2019)

Licence

Attribution

Identifiers

Cite

Tangyike Zhang, Songyi Zhang, Yu Chen, Chao Xia, Shitao Chen, et al.. Mixture Modules Based Intelligent Control System for Autonomous Driving. 15th IFIP International Conference on Artificial Intelligence Applications and Innovations (AIAI), May 2019, Hersonissos, Greece. pp.92-104, ⟨10.1007/978-3-030-19823-7_7⟩. ⟨hal-02331286⟩
254 View
193 Download

Altmetric

Share

Gmail Facebook X LinkedIn More