Title :
An autonomous land vehicle PRV II: progresses and performance enhancement
Author :
Kim, K.I. ; Oh, S.Y. ; Kim, S.W. ; Jeong, H. ; Han, J.H. ; Lee, C.N. ; Kim, B.S. ; Kim, C.S.
Author_Institution :
Pohang Inst. of Sci. & Technol., South Korea
Abstract :
PRV II (POSTECH Road Vehicle II) is an intelligent vehicle remodelled from a HYUNDAI van called `GRACE´. For the navigation algorithm, a new hybrid architecture which is composed of a conventional computer vision mode and a neural network mode is proposed. For each mode, fitness to the road environment is evaluated independently and then the vehicle control commands are obtained by a weighed combination of the outputs of these modes. An intelligent autonomous cruise control feature is added to PRV II by implementing various functions such as collision avoidance, car following and parallel parking. We use a CCD camera and sonar sensors for these algorithms. The position tracking system used in PRV II is based on GPS (Global Positioning System) with gyro and speedometer sensors for dead-reckoning, and the position error sizes are reduced from 60-100 meters to 10-15 meters
Keywords :
computer vision; intelligent control; navigation; neurocontrollers; position control; road vehicles; sonar; CCD camera; Global Positioning System; POSTECH Road Vehicle II; PRV II; autonomous land vehicle; car following; collision avoidance; computer vision; dead-reckoning; gyro; intelligent cruise control; intelligent vehicle; navigation; neural network mode; parallel parking; sonar sensors; speedometer sensors; Computer architecture; Computer vision; Global Positioning System; Intelligent sensors; Intelligent vehicles; Land vehicles; Navigation; Neural networks; Remotely operated vehicles; Road vehicles;
Conference_Titel :
Intelligent Vehicles '95 Symposium., Proceedings of the
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-2983-X
DOI :
10.1109/IVS.1995.528291
