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基于CMAC-PID的车道保持辅助系统控制策略研究（英文）.docx

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基于CMAC-PID的车道保持辅助系统控制策略研究（英文） ResearchonControlStrategyofLaneKeepingAssistanceSystembasedonCMAC-PID Abstract: Withtheincreasingpopularityofvehicles,trafficsafetyhasbecomeanimportantissue.Lanekeepingassistancesystemshavebeendevelopedtoreducetheoccurrenceofaccidentscausedbylanedeparture.Inthispaper,acontrolstrategybasedonCMAC-PIDisproposedforthelanekeepingassistancesystem.TheCMAC-PIDcontrollercombinestheadvantagesoftheCMACneuralnetworkandPIDcontrolalgorithm,whichimprovestheaccuracyandstabilityofthesystem.Thesimulationresultsdemonstratethattheproposedcontrolstrategyeffectivelykeepsthevehiclewithinthelaneandenhancesthesafetyofdriving. 1.Introduction Thedevelopmentofautonomousdrivingtechnologyhasledtotheemergenceoflanekeepingassistancesystems.Thesesystemshelpdriverstokeeptheirvehicleswithinthelane,reducingtheriskofaccidentscausedbylanedeparture.Toachieveprecisecontrolandensuredrivingsafety,aneffectivecontrolstrategyisessential.ThispaperproposesacontrolstrategybasedonCMAC-PIDforthelanekeepingassistancesystem. 2.CMAC-PIDControlStrategy 2.1CMACNeuralNetwork CMAC(CerebellarModelArticulationController)isatypeofneuralnetworkthatmimicsthestructureandfunctionofthecerebellum.Itiswidelyusedincontrolsystemsduetoitsfastlearningabilityandstrongnonlinearmappingcapability.Inthelanekeepingassistancesystem,theCMACneuralnetworkisusedtoapproximatethenonlinearrelationshipbetweentheinputvariables(e.g.,vehicleposition,lanewidth)andthecontroloutput. 2.2PIDControlAlgorithm PID(ProportionalIntegralDerivative)controlisaclassiccontrolalgorithmthatcalculatesthecontroloutputbasedontheerror,integraloferror,andderivativeoferror.Itiswidelyusedinvariouscontrolsystemsduetoitssimplicityandeffectiveness.Inthelanekeepingassistancesystem,thePIDcontrolalgorithmisusedtoadjusttheoutputoftheCMACneuralnetworkandgeneratethecontrolsignalforthevehiclesteering. 2.3CMAC-PIDController TheCMAC-PIDcontrollerintegratestheCMACneuralnetworkandPIDcontrolalgorithm.TheCMACneuralnetworkisresponsibleforapproximatingthenonlinearr