This paper describes design of the optimal field of view for a vision-based vehicle by simulation studies. The vehicle drives along a reference with a lateral control algorithm, where a front wheel steering angle is provided with a coefficient of a cubic curve approximating the reference in the field of view. Performance when a vehicle drives along a circle is evaluated regarding a tracking error along the circle and lateral accelereation relating to ride quality. The results show that a field of view with a depth of 20 m covering from 10 m to 30 m in front of a vehicle is optimal with respect to the error and the ride quality, when the lateral control algorithm is applied.


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    Title :

    Optimal design of vision system for lateral control of autonomous vehicle


    Additional title:

    Optimaldesign eines Vision-Systems für ein autonomes Fahrzeug


    Contributors:
    Tsugawa, S. (author) / Yanagiya, M. (author) / Tomita, K. (author)


    Publication date :

    1998


    Size :

    6 Seiten, 10 Bilder, 6 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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