Development of autonomous test vehicle using image processing

Author

Dong-Min, Lee ; Dong-Ho, Kim ; Byung-Soo, Kim ; Soon-Hwan, Moon ; Min-Hong, Han

Author_Institution

Commercial Vehicle Res. Team, Hyundai Motor Company, Kyunggi, South Korea

fYear

1996

fDate

19-20 Sep 1996

Firstpage

409

Lastpage

414

Abstract

This paper describes an implementation of the autonomous road vehicle HSSV (Hyundai Smart Safe Vehicle), which can run on Belgian roads with natural road boundaries. The HSSV consists of a vision system, braking system, and remote control system. The vision system determines the steering angle from road images, and the braking system controls the speed of HSSV, depending on the distance to obstacles and curvature of the road. With the remote control system, HSSV can be controlled manually from a remote cite using the video image transmitted from the vehicle. HSSV is constructed from a 15 seat bus and can run at 30 km/h on straight Belgian roads, and 10 km/h on sharply curved roads

Keywords

braking; computer vision; edge detection; feature extraction; navigation; position control; road vehicles; telecontrol; 10 km/h; 30 km/h; Belgian roads; HSSV; Hyundai Smart Safe Vehicle; autonomous road vehicle; braking system; image processing; lane boundary extraction; remote control system; steering angle; vision system; Control systems; Humans; Image processing; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; Testing; Vehicle driving; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 1996., Proceedings of the 1996 IEEE

Conference_Location

Tokyo

Print_ISBN

0-7803-3652-6

Type

conf

DOI

10.1109/IVS.1996.566415

Filename

566415