The Heterogeneous Systems Integration Design and Implementation for Lane Keeping on a Vehicle
In this paper authors propose a novel type of intelligent automated lane-keeping system called TAIWAN-iTS-1. The system integrates various subsystems such as a real-time vision system, in-vehicle sensors, lateral controllers, and an actuating motor for the steering wheel. TAIWAN-iTS-1 uses its vision systems to detect roadway demarcations for lane-keeping purposes and then calculates desired trajectories based upon the inferred road center. Using a fuzzy gain scheduling (FGS) algorithm that compensates for the feedback controller and so adapting to the actuating motor, the system achieves a more humanlike driving behavior. The FGS is self-tuning and can ensure it satisfies the crossover model principle. The system was tested on a course designed for such systems at the Automotive Research and Testing Center (ARTC).
-
Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
-
Authors:
- Wu, Shinq-Jen
- Chiang, Hsin-Han
- Perng, Jau-Woei
- Chen, Chao-Jung
- Wu, Bing-Fei
- Lee, Tsu-Tian
- Publication Date: 2008-6
Language
- English
Media Info
- Media Type: Print
- Features: Figures; Photos; References; Tables;
- Pagination: pp 246-263
-
Serial:
- IEEE Transactions on Intelligent Transportation Systems
- Volume: 9
- Issue Number: 2
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 1524-9050
- Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
Subject/Index Terms
- TRT Terms: Automatic steering control; Computer vision; In vehicle sensors; Intelligent transportation systems; Lane lines; Mathematical models
- Subject Areas: Operations and Traffic Management; Public Transportation;
Filing Info
- Accession Number: 01103853
- Record Type: Publication
- Source Agency: UC Berkeley Transportation Library
- Files: BTRIS, TRIS
- Created Date: Jun 30 2008 8:29AM