Automatic steering control algorithm has been proposed, which uses the motion of objects in visual image (optical flow), obtained from an ITV camera looking ahead in the situation without forward vehicle. This algorithm is improved to be applicable to the situation in which the forward tracking course is invisible owing to the interference of the forward vehicles. The algorithm is based on image processing and requires little computation. Visual information is defined as the image of the road as projected on the front windshield (image) and its motion (dynamic image). Therefore, information is excluded such as actual positions on the road as measured with respect to an external reference frame. As a result, the motion of the course in the forward field of view is perceived in terms of the dynamic image projected on the windshield, rather its physical values. The basic principle for the algorithm is to eliminate the sum of the shift in lane partition lines and lateral deviation. When there is a vehicle ahead obscuring the partition lines, one can use the optical flow of the preceding vehicle to compensate for the loss of partition lines. The adjustment of the control parameters against the change in vehicle speed was confirmed by computer simulation experiments.


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    Title :

    Course tracking control algorithm using visual information


    Additional title:

    Fahrbahnverfolgungsregelung unter Verwendung visueller Information


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

    Published in:

    Vehicle System Dynamics ; 28 , 6 ; 385-398


    Publication date :

    1997


    Size :

    14 Seiten, 14 Bilder, 2 Tabellen, 3 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Course Tracking Control Algorithm using Visual Information

    Yoshimoto, K. / Ogawa, H. / Kubota, H. | British Library Online Contents | 1996


    Course Tracking Control Algorithm Using Visual Information

    Yoshimoto, K.-I. | Online Contents | 1997


    Course tracking control algorithm using visual information

    Yoshimoto,K.I. / Ogawa,H. / Kubota,H. et al. | Automotive engineering | 1997


    Course Tracking Control Algorithm Using Visual Information

    YOSHIMOTO, KEN-ICHI / OGAWA, HIDEKI / KUBOTA, HIROSHI | Taylor & Francis Verlag | 1997


    A course tracking control algorithm using visual information

    Yoshimoto,K. / Ogawa,H. / Kubota,H. et al. | Automotive engineering | 1996