An automatic steering control algorithm is presented, which uses motion of objects in a visual image (optical flow) obtained from an ITV camera looking ahead. First, an algorithm is presented for the case in which there are no preceding vehicles. Visual information in this case is defined as the image of the road as projected on the front windshield and its motion. The algorithm is enhanced by addition of supplementary algorithms for the cases in which a preceding vehicle obscures the forward view. Computer simulation experiments are performed in order to evaluate the algorithm and to validate formulae for adjustment of control parameters with changes in vehicle speed.
A cource tracking control algorithm using visual information
Ein Spurverfolgungsalgorithmus für Straßenfahrzeuge anhand visueller Informationen
1996
16 Seiten, 14 Bilder, 2 Tabellen, 3 Quellen
Aufsatz (Konferenz)
Englisch
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