Parallel Learning-Based Steering Control for Autonomous Driving

doi:10.1109/TIV.2022.3173448

	Parallel Learning-Based Steering Control for Autonomous Driving
	Tian, Fangyin 1; Li, Zhiheng 1,2; Wang, Fei-Yue3 ; Li, Li 4
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
ISSN	2379-8858
	2023
卷号	8 期号:1 页码:379-389
通讯作者	Li, Li(li-li@tsinghua.edu.cn)
摘要	Steering control for autonomous vehicles at high speeds is challenging due to the highly nonlinear vehicle dynamics. The traditional model-based controllers usually degrade significantly in this case. With the development of artificial intelligence, learning-based control methods are emerging as promising alternatives. These methods require a tremendous amount of training data to achieve acceptable performances. However, the data collection process is costly or inefficient. To solve this problem, we propose a parallel learning-based steering control method. Specifically, we first build a neural network (NN) based trajectory generative model (GeneratingNN) based on limited steering-trajectory raw data. The GeneratingNN can efficiently generate sufficient steering-trajectory data by enumerating the allowable steering actions sequences. Then, based on the raw data and generated data, we train another NN (RecallingNN) to learn the inverse mapping relationship between steering actions and trajectories. Hence, the RecallingNN can efficiently recall appropriate steering actions once given the previewed trajectory points. In addition, to further enhance the control accuracy and robustness, we use a simple feedback controller to handle the unmodeled dynamics and external disturbance. Testing results validate that the proposed method can achieve better tracking accuracy, stability and computational efficiency.
关键词	Vehicle dynamics Trajectory Data models Training data Autonomous vehicles Training Predictive models Autonomous driving learning based control parallel learning steering control
DOI	10.1109/TIV.2022.3173448
关键词[WOS]	MODEL-PREDICTIVE CONTROL ; PATH-FOLLOWING CONTROL ; TRACKING ; VEHICLE ; AVOIDANCE
收录类别	SCI
语种	英语
资助项目	Key-Area Research and Development Program of Guangdong Province[2020B0909050003]
项目资助者	Key-Area Research and Development Program of Guangdong Province
WOS研究方向	Computer Science ; Engineering ; Transportation
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号	WOS:000965971100001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：24[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53207
专题	多模态人工智能系统全国重点实验室
通讯作者	Li, Li
作者单位	1.Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China 2.Tsinghua Univ, Grad Sch Shenzhen, Shenzhen 518055, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Controlfor Complex Syst, Beijing 100080, Peoples R China 4.Tsinghua Univ, Dept Automat, BNRist, Beijing 100084, Peoples R China
推荐引用方式 GB/T 7714	Tian, Fangyin,Li, Zhiheng,Wang, Fei-Yue,et al. Parallel Learning-Based Steering Control for Autonomous Driving[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2023,8(1):379-389.
APA	Tian, Fangyin,Li, Zhiheng,Wang, Fei-Yue,&Li, Li.(2023).Parallel Learning-Based Steering Control for Autonomous Driving.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,8(1),379-389.
MLA	Tian, Fangyin,et al."Parallel Learning-Based Steering Control for Autonomous Driving".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 8.1(2023):379-389.