Lane-following method for high speed autonomous vehicles
Lane-following method for high speed autonomous vehicles
- Neue Suche nach: Lee, K. B.
- Neue Suche nach: Han, M. H.
- Neue Suche nach: Lee, K. B.
- Neue Suche nach: Han, M. H.
Abstract This paper presents a steering control method for lane-following in a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. The steering angle is calculated from the travel path thus generated, and the vehicle follows the travel path via motor-control. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) trajectory with a variety of radii (50 m ∼ 300 m) while traveling at a speed of 60 km/h to 80 km/h. Compared with an experienced human driver, the method showed little much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for stop and go traffic.
Dokumentinformationen
Lane-following method for high speed autonomous vehicles
2008
Aufsatz (Zeitschrift)
Englisch
| BKL: | 55.20$jStraßenfahrzeugtechnik / 55.20 Straßenfahrzeugtechnik |
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