吉林大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (03): 650-0654.

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Co-simulation of lane keeping control system based on BP neural network

JIN Li-sheng 1,2, FANG Wen-ping1, HOU Hai-jing1, SUN Yu-qin1   

  1. 1.College of Transportation, Jilin University, Changchun 130022 China；2.State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022, China
  • Received:2009-05-18 Online:2010-05-01 Published:2010-05-01

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Abstract:

A vehicle dynamics model incorporating mainly the steering system for self-control and the vehicle body model for output of state variables was built using the mechanical dynamics simulation software ADAMS/CAR. A control system for lane-keeping was designed in the environment of MATLAB/Simulink based on the BP neural network and PID control algorithm. The communication between the vehicle dynamics model and the Matlab module was established by input/output interface. The co-simulation of the lane-keeping control was realized by the established Matlab control module and the mechanical system dynamics model. The simulation results showed that the designed lane-keeping control system can achieve the reliable self-control of the lanekeeping,guarantee the vehicle to move along the lane mask smoothly and steadily at dangerous conditions.

Key words: transportation safety engineering, lane keeping, co-simulation, BP neural network

CLC Number: 

  • U461.91
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