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.


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    Title :

    A cource tracking control algorithm using visual information


    Additional title:

    Ein Spurverfolgungsalgorithmus für Straßenfahrzeuge anhand visueller Informationen


    Contributors:
    Yoshimoto, K.I. (author) / Ogawa, H. (author) / Kubota, H. (author)


    Publication date :

    1996


    Size :

    16 Seiten, 14 Bilder, 2 Tabellen, 3 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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