Research and implementation of variable-domain fuzzy PID intelligent control method based on Q-Learning for self-driving in complex scenarios.

Abstract

In the control of the self-driving vehicles, PID controllers are widely used due to their simple structure and good stability. However, in complex self-driving scenarios such as curvature curves, car following, overtaking, etc., it is necessary to ensure the stable control accuracy of the vehicles. Some researchers used fuzzy PID to dynamically change the parameters of PID to ensure that the vehicle control remains in a stable state. It is difficult to ensure the control effect of the fuzzy controller when the size of the domain is not selected properly. This paper designs a variable-domain fuzzy PID intelligent control method based on Q-Learning to make the system robust and adaptable, which is dynamically changed the size of the domain to further ensure the control effect of the vehicle. The variable-domain fuzzy PID algorithm based on Q-Learning takes the error and the error rate of change as input and uses the Q-Learning method to learn the scaling factor online so as to achieve online PID parameters adjustment. The proposed method is verified on the Panosim simulation platform.The experiment shows that the accuracy is improved by 15% compared with the traditional fuzzy PID, which reflects the effectiveness of the algorithm.