Experimental results in vision-based lane keeping for highway vehicles
Tóm tắt
In this paper we address the problem of lateral control of vehicles for highway lane keeping using vision system. First we present a suitable simplified model of the plant and show its agreement with typical highway experimental conditions. Then, we formulate the control problem and propose a SISO control strategy based on driver behaviour emulation. The controller design is carried out using classical loop-shaping techniques and taking into account the model uncertainty. The experimental tests, conducted on Italian highways using a Fiat Brava 1600 ELX provided by Centro Ricerche Fiat, showed the good performances of the designed control system.
Từ khóa
#Road transportation #Road vehicles #Automatic control #Automated highways #Control systems #Magnetic analysis #Robust control #Emulation #Uncertainty #System testingTài liệu tham khảo
10.1109/ITSC.2000.881093
wang, 0, Robust H? lateral control of heavy-duty vehicles in automated highway system, Proc American Control Conference San Diego California 1999
10.1109/ACC.1997.610853
10.1109/25.69979
kose?ca?, 0, A comparative study of vision-based lateral control strategies for autonomous highway driving, Proc IEEE International Conference on Robotics & Automation Leuven Belgium 1998
10.1038/369742a0
hingwe, 0, Variable look-ahead controller for lateral guidance of four wheeled vehicles, Proc IEEE America Control Conference Philadelphia Pennsylvania USA 1998
10.1109/ITSC.1997.660593
hatipog?lu, 0, Steering and lane change: A working system, Proc of IEEE Intelligent Transportation Systems Conference Boston Massachusetts 1997
10.1109/CCA.1999.801171
10.1109/41.303790
10.1109/37.664657
10.1109/CCA.1999.801170
broggi, 1999, The argo autonomous vehicle's vision and control systems, International Journal of Intelligent Control and Systems, 3, 409
ackermann, 1990, robust control for automatic steering, 1990 American Control Conference ACC, 795, 10.23919/ACC.1990.4790841
10.1109/87.736743
10.1109/25.9890
feng, 0, Automatic steering control of vehicle lateral motion with effect of roll dynamics, Proc American Control Conference Philadelphia Pennsylvania 1998
cerone, 2001, Experimental results in vision-based lane keeping for highway vehicles, Internal Report CERE01
campo, 0, Lateral vehicle control for collision avoidance in emergency condition, Proc IEEE Intelligent Vehicle Symposium Tokyo Japan May 2001
10.1080/002071799220100
10.1109/25.69978