A comparative study of vision-based lateral control strategies for autonomous highway driving
This paper will present the results of a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understanding of the characteristics of various control laws th...
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| creator | Kosecka, J. Blasi, R. Taylor, C.J. Malik, J. |
| description | This paper will present the results of a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understanding of the characteristics of various control laws that could be applied to this problem with a view to making informed design decisions. The control strategies that we explored include a lead lag control law, a full-state linear controller and input-output linearizing control law. Each of these control strategies was implemented and tested on our experimental vehicle, a Honda Accord LX, both with and without a curvature feedforward component. |
| doi_str_mv | 10.1109/ROBOT.1998.680590 |
| format | Conference Proceeding |
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No.98CH36146)</btitle><stitle>ROBOT</stitle><date>1998</date><risdate>1998</risdate><volume>3</volume><spage>1903</spage><epage>1908 vol.3</epage><pages>1903-1908 vol.3</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>078034300X</isbn><isbn>9780780343009</isbn><abstract>This paper will present the results of a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understanding of the characteristics of various control laws that could be applied to this problem with a view to making informed design decisions. The control strategies that we explored include a lead lag control law, a full-state linear controller and input-output linearizing control law. 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| ispartof | Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998, Vol.3, p.1903-1908 vol.3 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_680590 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Application software Computer vision Mobile robots Remotely operated vehicles Road transportation Road vehicles Testing Vehicle driving Vehicle dynamics Wheels |
| title | A comparative study of vision-based lateral control strategies for autonomous highway driving |
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