吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (05): 1184-1189.doi: 10.7964/jdxbgxb201305006

• paper • Previous Articles     Next Articles

ACT-R based dynamic trajectory optimization method for intelligent vehicles

LI Ai-juan1,2, LI Shun-ming2, SHEN Huan2, MIAO Xiao-dong2   

  1. 1. School of Automotive Engineering, Shandong Jiaotong University, Ji'nan 250023, China;
    2. College of Energy and Power Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China
  • Received:2012-06-07 Online:2013-09-01 Published:2013-09-01

Abstract:

In order to enable the intelligent vehicle to travel following planned trajectory smoothly under different road conditions, a new cognitive architecture Adaptive Control of Thought-Rational (ACT-R) based dynamic optimal trajectory planning method was introduced. The new method combines the mathematical tool for optimal control problem and the ACT-R model. The ACT-R model is the core of the new method and the trajectory is generated by the optimal control method. The multi-weights of the cost function are adjusted dynamically by intelligent optimization and the optimized trajectory is generated. The simulation results of obstacle avoidance show that the method is effective and feasible, and the optimal reference trajectory can be generated dynamically.

Key words: vehicle engineering, intelligent vehicle, ACT-R model, optimal control, dynamic trajectory optimization

CLC Number: 

  • U471.15

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