The effects of the field of view on lateral control performance in a vision-based autonomous vehicle have been discussed by simulation studies. The optimal field of view obtained here covers from 10 m to 30 m in front of the vehicle, when the lateral control algorithm, which calculates lateral control with the coefficient of a cubic curve approximating a reference, is used on the passenger car. The optimal field of view is independent of the speed of the vehicle. The results of the simulation studies indicate that the depth and location of the field of view have the following characteristics on the tracking error and the lateral acceleration: When the depth is around 20 m, the lateral acceleration is almost constant and was the minimum for the location of the field of view and the speed of the vehicle in almost all cases. As the depth became larger than 20 m, the lateral acceleration rapidly increase. The lateral acceleration is sensitive to the location of field of view, the speed of the vehicle, and the radius of the reference circle. When the location is larger than 20 m, it will provide good ride quality in most practical cases. The tracking error decreases as the depth of the field of view increases, and as the location of the field of view decreases. The results regarding the location of the field of view or the look-ahead distance show similarity to driving by a human driver. When the look-ahead distance is short, the vehicle oscillatorily drives while keeping track of the reference with a small tracking error, and when the distance is long, the vehicle drives smoothly. The effects of the view on the lateral control performance have been considered with simulation studies. Future problems include analytical design of the optimal look-ahead distance as well as applicability of the field of view presented here to various road scenes.
Effects of field view on lateral control performance in a vision-based autonomous vehicle
Einfluss des Blickfeldes auf das laterale Regelverhalten eines autonomen Fahrzeugs
JSAE Review ; 20 , 4 ; 499-504
1999
6 Seiten, 10 Bilder, 7 Quellen
Aufsatz (Zeitschrift)
Englisch
Effects of field of view on lateral control performance in a vision-based autonomous vehicle
Online Contents | 1999
|Effects of field of view on lateral control performance in a vision-based autonomous vehicle
Kraftfahrwesen | 1999
|Optimal design of vision system for lateral control of autonomous vehicle
Tema Archiv | 1998
|