Preprocess the lane gray image to obtain binary image and propose an improved Hough transformation algorithm to obtain the feature parameter of the road edge in the binary image. According to the prediction result of the Kalman filtering, we establish the area of interest (AOI) of the road edge and adjust the size of AOI dynamically to track the road edge accurately. To guarantee Intelligent Vehicle tracks preconcerted path steadily, controller design is one of key technologies. Establish vehicle kinematics model firstly, construct state space mathematics model of Intelligent Vehicle tracking path closed loop control system by adopted vehicle position deviation. Based on Backstepping function control algorithm, choose Lyapunov function and design controller for Intelligent Vehicle lane changing, overtaking and tracking. Simulation and experiment result show that the controller designed by this method can track preconcerted path quickly, it is steady and reliable during Intelligent Vehicle lane changing and overtaking control course.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Algorithm on lane changing and tracking control technology for intelligent vehicle


    Contributors:
    You, Feng (author) / Wang, Rongben (author) / Zhang, Ronghui (author)


    Publication date :

    2007


    Size :

    6 Seiten, 15 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Intelligent automobile curve driving automatic lane changing tracking control method

    LAI FEI / YANG HUI / WANG XIAOYU et al. | European Patent Office | 2023

    Free access

    Vehicle lane changing control method and vehicle lane changing control device

    ZHANG YOUPENG / JIANG ZHAOJUAN / NIAN FENGJU et al. | European Patent Office | 2022

    Free access

    Vehicle lane changing control method, vehicle lane changing control device and vehicle

    WU PENG / ZHU KEYIN / CHEN YONGCHUN et al. | European Patent Office | 2020

    Free access

    Intelligent driving vehicle lane changing and lane keeping integrated decision control method

    ZHAO ZHIGUO / LI WENCHANG / LIANG KAICHONG et al. | European Patent Office | 2023

    Free access

    Intelligent vehicle track lane changing planning method

    WEI ZHENYA / CHEN WUWEI / DING YUKANG et al. | European Patent Office | 2020

    Free access