Computer-based guidance of passenger vehicles is a common reality today, but cost, computation, and robustness challenges remain to obtain accurate vehicle state estimates. This study builds on previous work by the authors towards the development of a vehicle state estimation framework that uses optimal preview control theory to fuse map, GPS, inertial, and forward-looking camera information in a linear filter that offers a-priori predictions of state estimate accuracy. By designing an optimal preview controller around a preview filter designed to make full use of a test vehicle's low-cost sensors, on-board map, and available visibility, a matched perception and control system is obtained. The resulting preview-based guidance system has a structure similar to LQG algorithms, and is tested both in simulation and on a real vehicle. The closed loop system provides lane-level tracking performance with low cost sensors.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Temporal preview estimation for design of a low cost lane-following system using a forward-facing monocular camera


    Beteiligte:
    Brown, Alexander (Autor:in) / Brennan, Sean (Autor:in)


    Erscheinungsdatum :

    01.06.2014


    Format / Umfang :

    1795823 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    TEMPORAL PREVIEW ESTIMATION FOR DESIGN OF A LOW COST LANE-FOLLOWING SYSTEM USING A FOWARD-FACING MONOCULAR CAMERA

    Brown, A. / Brennan, S. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2014


    Forward Facing Lane Car Camera

    HENRY KEEGAN JOHN | Europäisches Patentamt | 2018

    Freier Zugriff

    Lane detection with roadside structure using on-board monocular camera

    Watanabe, Akihiro / Naito, Takashi / Ninomiya, Yoshiki | IEEE | 2009


    Lane Detection with Roadside Structure Using On-board Monocular Camera

    Watanabe, A. / Naito, T. / Ninomiya, Y. | British Library Conference Proceedings | 2009


    A Novel Strategy for Road Lane Detection and Tracking Based on a Vehicle’s Forward Monocular Camera

    Andrade, David C. / Bueno, Felipe / Franco, Felipe R. et al. | IEEE | 2019