Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of South China University of Technology(Natural Science Edition)》 2016-12
Add to Favorite Get Latest Update

A Neural Network-Based Autonomous Articulated Vehicle System Considering Driver Behavior

ZHANG Wen-ming;HAN Hong-bing;YANG Jue;YI Xiao;School of Mechanical Engineering,University of Science and Technology Beijing;  
In view of the steering characteristics of articulated dump trucks,an autonomous articulated vehicle system is proposed based on neural networks and by considering driver behaviors. First,a sensor collecting system based on the laser radar and the angular transducer is established,and an articulated vehicle kinematics model and a dynamics model of articulated dump trucks are constructed by analyzing the steering characteristics of articulated dump trucks. Then,by using the ADAMS software,a dynamic model of the trucks is constructed to perform a steady state test. Moreover,a driver model of the artificial neural network control algorithm is constructed based on the optimal preview control,and it is verified by an Adams-Matlab / Simulink co-simulation. Finally,this control model is also verified by establishing a simulation ground tunnel to perform the straight-road-return and curve-roadfollowing tests. The results show that,when the constructed control model is applied to the variable curvature road,the lateral position error is less than 10% of the passable distance,and 90% of the course angle deviation is optimized,which indicates that the constructed control model has a high convergence speed,a good steady state and an excellent unmanned driving performance.
【Fund】: 国家高技术研究发展计划(863计划)项目(2011AA060404)~~
【CateGory Index】: U463.6
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 4 Hits
1 Zhao Xuan;Yang Jue;Zhang Wenming;Zeng Jun;School of Mechanical Engineering, University of Science and Technology Beijing;School of Computer and Communication Engineering, University of Science and Technology Beijing;;Sliding mode control algorithm for path tracking of articulated dump truck[J];农业工程学报;2015-10
2 LIUJinxiaetal;Companon Between Articulated Dump Truck(ADT) and Off-load Truck[J];矿山机械;2003-09
3 Guo Konghui Pan Feng (Jilin University)Ma Fengjun (No. 15 Research Institute, CALT);PREVIEW OPTIMIZED ARTIFICIAL NEURAL NETWORK DRIVER MODEL[J];机械工程学报;2003-01
4 Wang Wuhong;Influence of Driver's Behaviour Patterns and Psychological Factors upon Their Dependability[J];汽车技术;1994-11
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 RAN Guangwei;MA Yue;CHEN Qiaofang;ZHU Xiufen;Automotive Engineering Institute,Guangzhou Automobile Group Co.,Ltd.;Engineering Institute,Guangzhou College of South China University of Technology;;Application of Smart Wearable Devices in Automobile Safety[J];汽车零部件;2017-12
2 Zhang Shuo;Liu Jinyi;Du Yuefeng;Zhu Zhongxiang;Mao Enrong;Song Zhenghe;Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,China Agricultural University;School of Mechanics and Electrics Engineering,Hainan University;;Method on automatic navigation control of tractor based on speed adaptation[J];农业工程学报;2017-23
3 Yang Hao;Huang Jiang;Li Zhengwang;Li Pan;Han Zhonghai;Key Lab of Automobile Components and Parts Manufacturing and Test Technology of Ministry of Education, Chongqing University of Technology;Chongqing College of Humanities;;Two Point Intelligent Control Driver Model Based on Curvature and Speed[J];汽车技术;2017-08
4 SHAO Junkai;ZHAO Xuan;YANG Jue;ZHANG Wenming;KANG Yiting;ZHAO Xinxin;School of Mechanical Engineering,University of Science and Technology Beijing;Beijing Huawei Digital Technologies Co.,Ltd.;;Reinforcement Learning Algorithm for Path Following Control of Articulated Vehicle[J];农业机械学报;2017-03
5 WANG Yun;LIN Jing-gao;KANG Yi-ting;Technology Centre,Anhui Jianghuai Automobile Cooperation;China Ocean Mineral Resource R&D Association;School of Mechanical Engineering,University of Science and Technology;;Research Status of Suspension System used in Rigid Off-Highway Dump Truck[J];黑龙江交通科技;2017-03
6 Yang Jue;Shi Guangsi;Zhang Wenming;Zhao Xuan;Dun Haiyang;Si Jixiang;School of Mechanical Engineering,University of Science & Technology Beijing;;Path tracking algorithm of vehicles based on fuzzy hyperbolic tangent model[J];农业工程学报;2017-S1
7 ZHANG Wen-ming;HAN Hong-bing;YANG Jue;YI Xiao;School of Mechanical Engineering,University of Science and Technology Beijing;;A Neural Network-Based Autonomous Articulated Vehicle System Considering Driver Behavior[J];华南理工大学学报(自然科学版);2016-12
8 JIA Xiaoping;YANG Zhong;YU Kuilong;JI Pengfei;CHEN Jianlong;Department of Mechanical Engineering,Academy of Armored Force Engineering;First Brigade,Shijiazhuang Institute of Mechanized Infantry of PLA;;Analysis and Simulation of Steering Performance of Six-Wheeled Articulated Vehicle[J];河南科技大学学报(自然科学版);2016-04
9 Zou Yuqin;Hunan Nonferrous Heavy Machinery Co.,Ltd.;;Analysis about the Control System of Electric Wheel Articulated Vehicle Electric Drive[J];冶金设备;2016-02
10 CHEN Tao;CHEN Yan-qin;DENG Gang;WEI Lang;Key Laboratory of Automobile Transportation Safety Techniques of Ministry of Transport,Chang'an University;;Review of driver behavior models[J];长安大学学报(自然科学版);2016-02
【Secondary Citations】
Chinese Journal Full-text Database 7 Hits
1 Niu Xuemei,Gao Guoqin,Bao Zhida,Zhou Haiyan(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China);Path tracking of mobile robots for greenhouse spraying controlled by sliding mode variable structure[J];农业工程学报;2013-02
2 Wang Hongwen,Xu Jinna,Li Yaoting,He Xiaowei(School of Control Science and Engineering,Hebei University of Technology,Tianjin 300130,China);Switch Gain Fuzzy Modulation of Sliding Mode Control Based on Ackermann's Formula[J];计算机测量与控制;2011-12
3 ZHAO Xi-jun,LIU Hai-ou,XIONG Guang-ming,GONG Jian-wei,CHEN Hui-yan(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China);Method of Parameter Selection for Automatic Steering Sliding Mode Control[J];北京理工大学学报;2011-10
4 GAO Jian ming 1 ,WANG Tong jian 1 ,XU Jin yong 2 ,ZHANG Zi da 1 (1 College of Mechanical Science and Engineering Jilin University,Changchun 130025,China;2 Linyi Engineering Machinery Factory,Linyi276004,China);Simulation and experimental research on steering kinematics and dynamics of articulated loaders[J];建筑机械;2005-04
5 Wang Wuhong Cao Qi(Southwest Jiaotong University,Chengdu);A New Model for Driver Operation Reliability Assessment in Man-machine System with Automotive[J];中国公路学报;1994-S1
6 Wang Wuhong, Cao Qi & Liu Dongming;Analysis and Assessment of Driver' s Operation Reliability[J];汽车工程;1994-04
7 Guo Konghui;Comprehensive Evaluation and Optimum Design for Active Safety of A Driver-Vehicle-Road Closed-Loop Driving System[J];汽车技术;1993-04
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved