This paper describes algorithms of path generation and lateral control of an automated vehicle with a vision system for autonomous navigation and lane-change manoeuvres. The vision system detects reference lines along which the vehicle is guided. The lateral control consists of steps of reference line detection, path generation, and lateral control calculation. A coefficient of a cubic curve that approximates a series of sampled points on the reference line provides the lateral control. The approximation can be done with a series of sampled points that are detected on the reference line in the field of view with image processing. A path for various manoeuvres including lane-changing is generated by shifting the series of sampled points. Simulation studies and outdoor experiments were conducted to show the feasibility of the algorithms.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Lane-change manoeuvres for vision-based vehicle


    Beteiligte:
    Kato, S. (Autor:in) / Tomita, K. (Autor:in) / Tsugawa, S. (Autor:in)


    Erscheinungsdatum :

    01.01.1997


    Format / Umfang :

    712844 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Improving clarity, cooperation and driver experience in lane change manoeuvres

    A. Haar / A.B. Haeske / A. Kleen et al. | DOAJ | 2022

    Freier Zugriff


    Computer simulation study on a vehicles directional response in some severe manoeuvres Part 1:Rapid lane-change manoeuvres

    El-Gindy,M. / Ilosvai,L. / Budapest Univ.of Technol.,Automob.Engng.Dep.,HU | Kraftfahrwesen | 1983


    Trajectory planning and combined control design for critical high-speed lane change manoeuvres

    Sazgar, Hadi / Azadi, Shahram / Kazemi, Reza | SAGE Publications | 2020


    Vehicle stability during braking manoeuvres

    El-Gindy,M. / Ilosvai,L. / Univ.Budapest,Dep.of Automob.Engng.,HU | Kraftfahrwesen | 1980