Automatic Steering Control of an Unmanned Transport Truck in Off-road Environments

In structured environments, steering control of autonomous driving is almost performed by using localization based on lane markers. However, in off-road environments, there are no lane markers and the road boundary is detected by some sensors. The boundary is not smooth and automatic steering control based on the detected boundaries has problems. In this paper, path following control with the nonlinear weight of lateral errors is proposed. The lateral error is derived from the boundary which is detected by using deep learning. In conclusion, it was confirmed by actual vehicle experiments, the proposed method worked well on agricultural roads.

• Record URL:
  https://doi.org/10.11351/jsaeronbun.52.1155
• Record URL:
  https://www.jstage.jst.go.jp/article/jsaeronbun/52/5/52_20214742/_pdf
• 
• Record URL:
  https://scholar.google.com/scholar_lookup?title=Automatic%20Steering%20Control%20of%20an%20Unmanned%20Transport%20Truck%20in%20Off-road%20Environments&author=Y.%20Uetsuki&author=T.%20Atsumi&author=K.%20Kurashiki&author=H.%20Sugawara&author=Y.%20Oba&author=G.%20Maeda&author=Y.%20Fukumizu&author=T.%20Fukao&publication_year=2021
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Uetsuki, Yuki
  • Atsumi, Tomoyuki
  • Kurashiki, Keita
  • Sugawara, Hiroshi
  • Oba, Yuto
  • Maeda, Genki
  • Fukumizu, Yohei
  • Fukao, Takanori
• Publication Date: 2021-9

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; Photos; References; Tables;
• Pagination: pp 1155-1160
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 52
  • Issue Number: 5
  • Publisher: Society of Automotive Engineers of Japan
  • ISSN: 0287-8321
  • EISSN: 1883-0811
  • Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: All terrain vehicles; Automatic steering control; Autonomous vehicles; Farm roads; Trajectory control; Trucks
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01787963
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Nov 12 2021 5:23PM