Title :
Driving control system for an autonomous vehicle using multiple observed point information
Author :
Hattori, Akira ; Hosaka, Akio ; Taniguchi, Masaaki ; Nakano, Eiji
Author_Institution :
Res. Center, Nissan Motor Co. Ltd., Yokosuka, Japan
fDate :
29 Jun-1 Jul 1992
Abstract :
A driving control system has been developed in which the weighting given to lane marker (white line) information obtained at multiple observed points ahead of the vehicle is varied according to the driving knowledge, global driving commands and data on the white line shapes. This driving knowledge stored in the memory includes driving behavior expressed in a form of rules, which make it possible to achieve the actual driving operations performed by human drivers. As a result, smooth, stable steering control can be obtained on various types of curved roads having a continuously varying radius of curvature and width. Tests of this driving control system indicate that it provides driving performance on a par with that of skilled drivers
Keywords :
computerised control; computerised navigation; knowledge based systems; position control; road vehicles; autonomous vehicle; driving control system; driving knowledge; global driving commands; knowledge based systems; lane mark tracking; multiple observed point information; navigation; road vehicles; steering control; Automatic control; Automotive engineering; Control systems; Humans; Mobile robots; Predictive models; Remotely operated vehicles; Road vehicles; Shape control; Vehicle driving;
Conference_Titel :
Intelligent Vehicles '92 Symposium., Proceedings of the
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-0747-X
DOI :
10.1109/IVS.1992.252258