Computer vision technology that automatically steers a passenger vehicle to keep it in its lane on a limited-access freeway is described. This system, LaneTrak, uses a forward looking monochrome CCD camera and a real-time image processing system on-board the vehicle. The image processing system identifies the lane boundaries based on lane markers and road edges. A pair of Kalman filters uses this information combined with vehicle dynamics sensor data to determine the vehicle angluar heading error, lateral offset from the center of the road, and the lane curvature ahead. A preview proportional-integral control system determines the desired steering angle to keep the vehicle in the lane. The steering angle is then passed to another controller which activates an electric steering mechanism that positions the front wheels of the vehicle. We verified the full operation of LaneTrak with computer simulation before the system was designed and used a driving simulator to evaluate drivers' reaction to system failure. Lane Frak has been successfully demonstrated on a test track and on an unopened section of a limited-access freeway at highway speeds.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lane Trak: a vision-based automatic vehicle steering system


    Additional title:

    LaneTrak: Ein automatisches Fahrzeuglenksystem auf Bilderkennungsbasis


    Contributors:
    Altan, O.D. (author) / Craig, D.B. (author) / Litkouhi, B.B. (author) / Oberdier, L.M. (author)


    Publication date :

    1992


    Size :

    11 Seiten, 6 Bilder, 12 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Dana Torque Vectoring Differential Dynamic Trak

    Park, J. / Kroppe, W. J. / Society of Automotive Engineers | British Library Conference Proceedings | 2004



    POWER-TRAK: Das drehmomentfühlende, selbstsperrende Differential

    Ambom, P. / Hildebrandt, W. | Tema Archive | 1991


    Dana Torque Vectoring Differential Dynamic Trak

    Park, J. / Kroppe, W. J. | British Library Conference Proceedings | 2004