ANALYSES OF VISION-BASED LATERAL CONTROL FOR AUTOMATED HIGHWAY SYSTEM

The stability and performance of a vision-based vehicle lateral control system are analyzed. Effects of look-ahead distance, vision delay, and vehicle speed on the performance of vision feedback control system are examined by using frequency domain and time domain methods. A measurement model of the vision system is derived from the point of view of multiple sensors. The quantization error of the vision system is analysed and the way of extracting essential information for control is studied. Based on this analysis, some guidelines for the design of vision-based controllers are proposed. A design example is further illustrated for a vision system with a substantial time delay. (A)

  • Availability:
  • Corporate Authors:

    Swets & Zeitlinger

    P.O. Box 825
    2160 SZ Lisse,   Netherlands 
  • Authors:
    • HSU, J-C
    • Tomizuka, M
  • Publication Date: 1998-11

Language

  • English

Media Info

  • Features: References;
  • Pagination: p. 345-73
  • Serial:

Subject/Index Terms

Filing Info

  • Accession Number: 00765715
  • Record Type: Publication
  • Source Agency: Transport Research Laboratory
  • Files: ITRD, ATRI
  • Created Date: Jul 1 1999 12:00AM