Steering-Angle Prediction and Controller Design Based on Improved YOLOv5 for Steering-by-Wire System

Abstract

A crucial role is played by steering-angle prediction in the control of autonomous vehicles (AVs). It mainly includes the prediction and control of the steering angle. However, the prediction accuracy and calculation efficiency of traditional YOLOv5 are limited. For the control of the steering angle, angular velocity is difficult to measure, and the angle control effect is affected by external disturbances and unknown friction. This paper proposes a lightweight steering angle prediction network model called YOLOv5Ms, based on YOLOv5, aiming to achieve accurate prediction while enhancing computational efficiency. Additionally, an adaptive output feedback control scheme with output constraints based on neural networks is proposed to regulate the predicted steering angle using the YOLOv5Ms algorithm effectively. Firstly, given that most lane-line data sets consist of simulated images and lack diversity, a novel lane data set derived from real roads is manually created to train the proposed network model. To improve real-time accuracy in steering-angle prediction and enhance effectiveness in steering control, we update the bounding box regression loss function with the generalized intersection over union (GIoU) to Shape-IoU_Loss as a better-converging regression loss function for bounding-box improvement. The YOLOv5Ms model achieves a 30.34% reduction in weight storage space while simultaneously improving accuracy by 7.38% compared to the YOLOv5s model. Furthermore, an adaptive output feedback control scheme with output constraints based on neural networks is introduced to regulate the predicted steering angle via YOLOv5Ms effectively. Moreover, utilizing the backstepping control method and introducing the Lyapunov barrier function enables us to design an adaptive neural network output feedback controller with output constraints. Finally, a strict stability analysis based on Lyapunov stability theory ensures the boundedness of all signals within the closed-loop system. Numerical simulations and experiments have shown that the proposed method provides a 39.16% better root mean squared error (RMSE) score than traditional backstepping control, and it achieves good estimation performance for angles, angular velocity, and unknown disturbances.

Keywords

• steer-by-wire (SbW) systems
• steering-angle prediction
• autonomous vehicles (AVs)
• convolutional neural network (CNN)
• barrier Lyapunov function