A cource tracking control algorithm using visual information
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 9624685
- Paper/Info type
- AVEC
- Pages
- 1305-1320(Total 16 p)
- Date of publication
- Jun 1996
- Publisher
- Others, Unknown
- Language
- English
- Event
- AVEC '96
Detailed Information
| Author(E) | 1) K.Yoshimoto, 2) H.Ogawa, 3) H.Kubota |
|---|---|
| Affiliation(E) | 1) Department of Mechano-Informatics Faculty of Engineering The University of Tokyo, 2) Department of Mechano-Informatics Faculty of Engineering The University of Tokyo, 3) Department of Mechano-Informatics Faculty of Engineering The University of Tokyo |
| Abstract(J) | 自動運転車両に使用するステアリング制御系に画像処理により得られる前方の情報だけを用いて制御する方法について研究した.前方に車両が存在する場合としない場合の2通りについて考えた.目標コースを設定せず,車両状態を予測しなくても,所望の操だを行い,レーンチェンジをスムースに行えることをシミュレーションで確認した. Translation |
| Abstract(E) | An automatic steering control algorithm is presented, which use motion of objects in a visual image (Optical Flow) obtained from an ITV camera looking ahead. First, an algorithm is presented for the case in which there are no preceding vehicles. The algorithm is enhanced by addition of supplementary algorithms for the cases in which a receding vehicle obscures the forward view. Computer simulation experiments are performed in order to evaluate the algorithm and to validate formulae for adjustment of control parameters with changes in vehicle speed. |
