Mixture Modules Based Intelligent Control System for Autonomous Driving

Tangyike Zhang; Songyi Zhang; Yu Chen; Chao Xia; Shitao Chen; Nanning Zheng

doi:10.1007/978-3-030-19823-7_7

Mixture Modules Based Intelligent Control System for Autonomous Driving

Tangyike Zhang
, Songyi Zhang
, Yu Chen
, Chao Xia
, Shitao Chen
, Nanning Zheng

College of Artificial Intelligence and Robotics

Xi'an Jiaotong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

As a typical artificial intelligence system, a safe and comfortable control system is essential for self-driving vehicles to have the same level of driving ability as human drivers. This paper proposes a novel control system for autonomous driving vehicles based on mixture modules, which aims to ensure the accuracy of path tracking while meeting the requirements of safety and ride comfort. The mixture modules consist of a lateral controller to control the steering wheel angle of the vehicle for path tracking and a longitudinal controller to adjust the speed of the vehicle. We conducted a series of experiments on our simulation platform and real self-driving vehicles to test the proposed control system and compared it with the traditional methods which are widely used. The experimental results indicate that our control system can run effectively on real vehicles. It may accurately track the intended driving path and adjust the driving speed comfortably and smoothly, which demonstrates a high level of intelligence.

Original language	English
Title of host publication	Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings
Editors	Lazaros Iliadis, John MacIntyre, Elias Pimenidis, Ilias Maglogiannis
Publisher	Springer New York LLC
Pages	92-104
Number of pages	13
ISBN (Print)	9783030198220
DOIs	https://doi.org/10.1007/978-3-030-19823-7_7
State	Published - 2019
Event	15th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2019 - Hersonissos, Greece Duration: 24 May 2019 → 26 May 2019

Publication series

Name	IFIP Advances in Information and Communication Technology
Volume	559
ISSN (Print)	1868-4238

Conference

Conference	15th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2019
Country/Territory	Greece
City	Hersonissos
Period	24/05/19 → 26/05/19

Keywords

Control system
Mixture modules
Path tracking
Ride comfort

Access to Document

10.1007/978-3-030-19823-7_7

Cite this

Zhang, T., Zhang, S., Chen, Y., Xia, C., Chen, S., & Zheng, N. (2019). Mixture Modules Based Intelligent Control System for Autonomous Driving. In L. Iliadis, J. MacIntyre, E. Pimenidis, & I. Maglogiannis (Eds.), Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings (pp. 92-104). (IFIP Advances in Information and Communication Technology; Vol. 559). Springer New York LLC. https://doi.org/10.1007/978-3-030-19823-7_7

Zhang, Tangyike ; Zhang, Songyi ; Chen, Yu et al. / Mixture Modules Based Intelligent Control System for Autonomous Driving. Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings. editor / Lazaros Iliadis ; John MacIntyre ; Elias Pimenidis ; Ilias Maglogiannis. Springer New York LLC, 2019. pp. 92-104 (IFIP Advances in Information and Communication Technology).

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title = "Mixture Modules Based Intelligent Control System for Autonomous Driving",

abstract = "As a typical artificial intelligence system, a safe and comfortable control system is essential for self-driving vehicles to have the same level of driving ability as human drivers. This paper proposes a novel control system for autonomous driving vehicles based on mixture modules, which aims to ensure the accuracy of path tracking while meeting the requirements of safety and ride comfort. The mixture modules consist of a lateral controller to control the steering wheel angle of the vehicle for path tracking and a longitudinal controller to adjust the speed of the vehicle. We conducted a series of experiments on our simulation platform and real self-driving vehicles to test the proposed control system and compared it with the traditional methods which are widely used. The experimental results indicate that our control system can run effectively on real vehicles. It may accurately track the intended driving path and adjust the driving speed comfortably and smoothly, which demonstrates a high level of intelligence.",

keywords = "Control system, Mixture modules, Path tracking, Ride comfort",

author = "Tangyike Zhang and Songyi Zhang and Yu Chen and Chao Xia and Shitao Chen and Nanning Zheng",

note = "Publisher Copyright: {\textcopyright} 2019, IFIP International Federation for Information Processing.; 15th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2019 ; Conference date: 24-05-2019 Through 26-05-2019",

year = "2019",

doi = "10.1007/978-3-030-19823-7\_7",

language = "英语",

isbn = "9783030198220",

series = "IFIP Advances in Information and Communication Technology",

publisher = "Springer New York LLC",

pages = "92--104",

editor = "Lazaros Iliadis and John MacIntyre and Elias Pimenidis and Ilias Maglogiannis",

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}

Zhang, T, Zhang, S, Chen, Y, Xia, C, Chen, S & Zheng, N 2019, Mixture Modules Based Intelligent Control System for Autonomous Driving. in L Iliadis, J MacIntyre, E Pimenidis & I Maglogiannis (eds), Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings. IFIP Advances in Information and Communication Technology, vol. 559, Springer New York LLC, pp. 92-104, 15th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2019, Hersonissos, Greece, 24/05/19. https://doi.org/10.1007/978-3-030-19823-7_7

Mixture Modules Based Intelligent Control System for Autonomous Driving. / Zhang, Tangyike; Zhang, Songyi; Chen, Yu et al.
Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings. ed. / Lazaros Iliadis; John MacIntyre; Elias Pimenidis; Ilias Maglogiannis. Springer New York LLC, 2019. p. 92-104 (IFIP Advances in Information and Communication Technology; Vol. 559).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mixture Modules Based Intelligent Control System for Autonomous Driving

AU - Zhang, Tangyike

AU - Zhang, Songyi

AU - Chen, Yu

AU - Xia, Chao

AU - Chen, Shitao

AU - Zheng, Nanning

PY - 2019

Y1 - 2019

N2 - As a typical artificial intelligence system, a safe and comfortable control system is essential for self-driving vehicles to have the same level of driving ability as human drivers. This paper proposes a novel control system for autonomous driving vehicles based on mixture modules, which aims to ensure the accuracy of path tracking while meeting the requirements of safety and ride comfort. The mixture modules consist of a lateral controller to control the steering wheel angle of the vehicle for path tracking and a longitudinal controller to adjust the speed of the vehicle. We conducted a series of experiments on our simulation platform and real self-driving vehicles to test the proposed control system and compared it with the traditional methods which are widely used. The experimental results indicate that our control system can run effectively on real vehicles. It may accurately track the intended driving path and adjust the driving speed comfortably and smoothly, which demonstrates a high level of intelligence.

AB - As a typical artificial intelligence system, a safe and comfortable control system is essential for self-driving vehicles to have the same level of driving ability as human drivers. This paper proposes a novel control system for autonomous driving vehicles based on mixture modules, which aims to ensure the accuracy of path tracking while meeting the requirements of safety and ride comfort. The mixture modules consist of a lateral controller to control the steering wheel angle of the vehicle for path tracking and a longitudinal controller to adjust the speed of the vehicle. We conducted a series of experiments on our simulation platform and real self-driving vehicles to test the proposed control system and compared it with the traditional methods which are widely used. The experimental results indicate that our control system can run effectively on real vehicles. It may accurately track the intended driving path and adjust the driving speed comfortably and smoothly, which demonstrates a high level of intelligence.

KW - Control system

KW - Mixture modules

KW - Path tracking

KW - Ride comfort

UR - https://www.scopus.com/pages/publications/85065901940

U2 - 10.1007/978-3-030-19823-7_7

DO - 10.1007/978-3-030-19823-7_7

M3 - 会议稿件

AN - SCOPUS:85065901940

SN - 9783030198220

T3 - IFIP Advances in Information and Communication Technology

SP - 92

EP - 104

BT - Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings

A2 - Iliadis, Lazaros

A2 - MacIntyre, John

A2 - Pimenidis, Elias

A2 - Maglogiannis, Ilias

PB - Springer New York LLC

T2 - 15th IFIP WG 12.5 International Conference on Artificial Intelligence Applications and Innovations, AIAI 2019

Y2 - 24 May 2019 through 26 May 2019

ER -

Zhang T, Zhang S, Chen Y, Xia C, Chen S, Zheng N. Mixture Modules Based Intelligent Control System for Autonomous Driving. In Iliadis L, MacIntyre J, Pimenidis E, Maglogiannis I, editors, Artificial Intelligence Applications and Innovations - 15th IFIP WG 12.5 International Conference, AIAI 2019, Proceedings. Springer New York LLC. 2019. p. 92-104. (IFIP Advances in Information and Communication Technology). doi: 10.1007/978-3-030-19823-7_7

Mixture Modules Based Intelligent Control System for Autonomous Driving

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Keywords

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