Vehicle lateral guidance using vision, passive wire and radar sensors

Research performed in the area of vehicle lateral guidance using vision, passive wire and radar sensors is described. It is important to compare the feasibility of different sensing systems on a common platform to determine the best alternative that may be integrated in an automated highway system. A test vehicle is equipped with each of three sensors and a common steering controller platform. Lateral displacement information from each of the sensors is interfaced with the common steering controller platform to provide a basis for comparison. A quarter mile test track has been prepared to test the vehicle in actual operation. Results from experimental data are evaluated. The control law, individual sensing systems and the overall system architecture are discussed.