Preview Lateral Control for Intelligent Vehicles with Machine Vision
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- TOMITA Kohji
- Mechanical Engineering Laboratory
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- MURATA Satoshi
- Mechanical Engineering Laboratory
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- TSUGAWA Sadayuki
- Mechanical Engineering Laboratory
Bibliographic Information
- Other Title
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- マシンビジョンによるインテリジェントビークルのプレビューラテラル制御
- マシン ビジョン ニ ヨル インテリジェント ビークル ノ プレビューラテラル
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Description
This paper describes a new preview lateral control algorithm for autonomous vehicles with machine vision and experiments with an AGV conducted to demonstrate the feasibility of the algorithm. Compensation of the delay due to the time for image processing is also considered.<BR>The steering control algorithm uses a reference line along a path for lateral control. It finds the control by approximating the reference line with a cubic curve, a coefficient of which gives the steering control. The algorithm uses the whole information in the two-dimensional field of view, which enables robust and smooth lateral control even if a reference line is not aligned or is composed of only straight segments.
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 7 (2), 35-41, 1994
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Keywords
Details 詳細情報について
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- CRID
- 1390001205165535872
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- NII Article ID
- 10007137708
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 3863540
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed
