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Based on the multi-point preview model, a trajectory tracking model optimized by Grated Re-circulated Unit (GRU) neural network was designed to improve trajectory tracking accuracy of intelligent vehicle. Firstly, on the vehicle’s 2 degree of freedom model, 3 preview trajectory tracking models were established based on the preview theory. The simulation results show that the multi-point preview model has the best tracking effect. Then, the parameters such as multi-point preview lateral displacement deviation and steering wheel angle were used as the inputs of GRU neural network. After training, the optimized steering wheel angle was as output to control the driving direction of the vehicle. The verification results show that the trajectory tracking model optimized by GRU has better tracking effect under double shift path and S-curve path.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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