General design of the lateral control system based on monocular vision on THASV-I

In the paper, an intelligent vehicle prototype - THASV-I is designed to study the vehicle active safety on highway environment. The structure features and the relative technologies of the prototype are described. The principle and structure of monocular vision system are described in detail, as well as the lane identification and following algorithm. With some restrictions the monocular vision system can also be used to detect the obstacles in lane before the vehicle. At last, a vision based human-simulating steering control algorithm is presented. The results of the vision based auto-drive experiments on the prototype are also described and analyzed in the paper.