A Lateral Control Algorithm for Vision-based Automated Vehicles using a Reference Line Beside Them

This paper presents a lateral control algorithm for a vision-based automated vehicle and experimental results. The vision system looks downwards and detects a reference line for vehicle guidance immediately beside the vehicle. The features of the vision system are the avoidance of the influence of the lighting condition, and the availability of a reference line for vehicle guidance even on the following vehicles in an automated platoon. The lateral control is based on PD control, and expressed by a linear combination of lateral deviation of the vehicle from the reference line and the relative heading of the vehicle against the reference line. The algorithm is applicable not only to following vehicles in an automated platoon, but also to automated vehicles driving side-by-side if the gap and the relative headings of two vehicles are detected. The simulation studies and experiments with a small robotic vehicle have been conducted to show the feasibility of the lateral control algorithm.

• Supplemental Notes:
  • Abstract reprinted with permission from Intelligent Transportation Society of America.
• Corporate Authors:

  ITS America

  1100 17th Street, NW, 12th Floor
  Washington, DC  United States  20036
• Authors:
  • Sakamoto, Kazuki
  • Tsugawa, Sadayuki
• Conference:
  • 19th ITS World Congress
  • Location: Vienna , Austria
  • Date: 2012-10-22 to 2012-10-26
• Publication Date: 2012

Language

• English

Media Info

• Media Type: Digital/other
• Features: CD-ROM; Figures; Photos; References;
• Pagination: 6p
• Monograph Title: 19th ITS World Congress, Vienna, Austria, 22 to 26 October 2012

Subject/Index Terms

• TRT Terms: Algorithms; Automated vehicle control; Automatic steering control; Driving simulators; Mobile communication systems; Traffic platooning
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; I73: Traffic Control;

Filing Info

• Accession Number: 01499140
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 21 2013 9:14AM