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Communication Dans Un Congrès Année : 2019

Mixture Modules Based Intelligent Control System for Autonomous Driving

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

Résumé

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

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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⟩
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