ASV (Advanced Safety Vehicles) assist drivers in avoiding traffic accidents, and research in all areas of automatic driving systems is necessary to further develop ASV technology. A visual feedback approach is presented in which an automatic driving system is obtained by recognizing the road trajectory using image information. The validity of this approach is examined by conducting experiments with a radio-controlled car. First, a practical image processing algorithm that recognizes white lines on the road is proposed. Next, ARX (Auto Regressive with eXogenous input) modelling and Pade approximation were used in a system identification to determine both a nominal model and the corresponding multiplicative uncertainty for the automatic steering system design. A model of the radio-controlled car is built by system identification experiments. An automatic steering control system is designed based upon mixed-sensitivity problem and Hinfinity control theory. Finally, the effectiveness of the proposed control system is examined via travelling experiments.
Automatic steering control system design utilizing a visual feedback approach
Entwurf eines automatischen Fahrzeuglenkungssystems unter Verwendung einer visuellen Rückführung
2004
6 Seiten, 15 Bilder, 8 Quellen
Aufsatz (Konferenz)
Englisch
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