Neural speed control for autonomous road vehicles

被引：8

作者：

Fritz, H

机构：

[1] Daimler Benz AG, Research Dep. F1M/IA, T728

来源：

CONTROL ENGINEERING PRACTICE | 1996年 / 4卷 / 04期

关键词：

neural networks; automotive speed control; cruise control; nonlinear vehicle model;

D O I：

10.1016/0967-0661(96)00033-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a neural-network automotive speed controller is presented which works at low and at high speed-levels using throttle and brake control input. It can be used for autonomous intelligent cruise control including stop-and-go traffic situations. The network itself consists of a simple multilayer feedforward perceptron network. A special training method is used, where the neural network is trained on a detailed nonlinear dynamic vehicle model. Practical road tests with the Daimler Bent experimental vehicle OSCAR (MB 300 TE station wagon) show good results for both high- and low-speed control.

引用

页码：507 / 512

页数：6