Design of Autonomous Vehicle Controller Based on BP-PID

6th Annual 2018 International Conference on Geo-Spatial Knowledge and Intelligence

Han, Xi^1^2 ; Zhang, Xiaolin^1 ; Du, Yu^2 ; Cheng, Guang^2

School of Electronics and Information Engineering, Beihang University, Beijing, China^1

College of Robotics, Beijing Union University, Beijing, China^2

关键词: Autonomous control;    Autonomous mode;    BP (back propagation) neural network;    Control module;    Lateral control;    Parameters adjustment;    Parameters setting;    Proportion integration differentiations;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/234/1/012097/pdf
DOI  :  10.1088/1755-1315/234/1/012097

来源: IOP

【 摘 要 】

An autonomous vehicle controller based on BP-PID (Back-Propagation - Proportion Integration Differentiation) is designed. Autonomous control is one of the most significant parts for self-driving. Traditional PID control is supposed to take conducive effects on the longitudinal control; nevertheless, it fails to ensure the lateral control stability due to the inflexible parameters setting. To cover the limitation of in-system parameters adjustment issue, the BP (Back-Propagation) neural network is adhibited in traditional PID lateral control. The BP-PID control module updates the incremental PID parameters through self-learning and makes the vehicle operates more smoothly. The learning algorithm flowchart and calculation method of parameters are provided. Moreover, dual mode (manual mode and autonomous mode) control will continue for a comparatively long period. Consequently, the dual mode switch algorithm is presented. A typical measurement is conducted which were then compared with the ordinary PID control results that verified the potential of the proposed method.