NDLI: Machine intelligence for crisis handling in navigating vehicles using neuro-controllers

Content Provider	IEEE Xplore Digital Library
Author	Jayakumar, K. Rajaram, K.V. Faruqi, M.A.
Copyright Year	1999
Description	Author affiliation: Centre for Comput. & Commun. Technol., Gangtok, India (Jayakumar, K.)
Abstract	The paper addresses the design and development of an intelligent neuro controller for navigating vehicles, which can respond to a crisis when the human driver fails to react appropriately. Crisis situations were simulated analytically in a program with random changes in the road curvatures. Using transient dynamic equations and a vehicle model, the vehicle states, responses such as yaw rate, lateral velocity and variation of constructs such as the lateral position with respect to road centre (LPRC), heading error with respect to local curvature (HELC) under simulation trials were visually updated on the screen to enable manual manipulation of control inputs to guide the simulated navigation behaviour of the vehicle. A neuro controller was made to learn the inherent dynamics by an association of the vehicle states during such situations with the pattern of human reactions and his choice of inputs viz. the throttle, steer, brake and gear in controlling such crisis. Such a neuro controller then, has the ability to invoke such past learning of successful reaction patterns of the human control action during moments of human incapacity to react under crisis situations. The neuro controller guides the vehicle navigation under varying crisis conditions preventing road departures. The capability of the trained neuro controller to improvise effectively under unpresented crisis situations and maintain stability, controllability and safety of the vehicle has also been explored.
Starting Page	656
Ending Page	660
File Size	274113
Page Count	5
File Format	PDF
ISBN	0780358716
DOI	10.1109/ICONIP.1999.845673
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-11-16
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Machine intelligence Navigation Intelligent vehicles Humans Road vehicles Vehicle dynamics Vehicle safety Vehicle driving Analytical models Manipulator dynamics
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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