Title :
Vision based lateral control by yaw rate feedback
Author :
Choi, Ju Yong ; Kim, Chang Sup ; Hong, Sinpyo ; Lee, Man Hyung ; Bae, Jong II ; Harashima, Fumio
Author_Institution :
Dept. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., South Korea
Abstract :
In an autonomous vehicle, the reference lane is continually detected by a machine vision system. The vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between the vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, a PI controller is introduced for the yaw rate feedback. It is tuned by the simulation in which the vehicle is modeled as 2 DOF and 79 DOF and is verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort
Keywords :
computer vision; control system analysis; control system synthesis; feedback; motion control; position control; road traffic; road vehicles; tracking; traffic control; two-term control; PI controller; autonomous vehicle; control design; control performance; control simulation; lane tracking; lateral control algorithm; lateral distance deviations; machine vision system; passenger comfort; reference lane; reference yaw rates; vision-based lateral control; yaw rate feedback; Character generation; Control systems; Delay; Feedback; Machine vision; Mobile robots; Radar tracking; Remotely operated vehicles; Vehicle detection; Wheels;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.975623
