A Vision-based Speed Control Algorithm for Autonomous Driving
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 20002924
- Paper/Info type
- AVEC
No.130
- Pages
- (Total 7 p)
- Date of publication
- Aug 2000
- Publisher
- Others, Unknown
- Language
- English
- Event
- AVEC2000
Detailed Information
| Author(E) | 1) K.Yoshimoto, 2) M.Katoh, 3) K.Inoue |
|---|---|
| Affiliation(E) | 1) The University of Tokyo, 2) The University of Tokyo, 3) The University of Tokyo |
| Abstract(J) | 前方を注視するカメラ装置により得られる道路の視覚像を用い，先行車両の不在時期に極力素早く曲線コースに沿って車両を運転し得るようにさせる簡易な自動的速度制御アルゴリズムを開発し，その概要を提示した．このアルゴリズムをかじ取り制御アルゴリズムと組み合わせることにより，簡単な自動的駆動方法を構成することができる． Translation |
| Abstract(E) | A simple automatic speed control algorithm has been proposed, which can drive a vehicle along a curved course in the situation without forward vehicles as fast as possible, using a visual image of the road obtained from an ITV camera which is looking ahead. By combining this speed control algorithm with the steering control algorithm, a simple automatic driving method has been constructed. The speed is adjusted so that the lateral predicted acceleration of the vehicle may not exceed the permissible range. The lateral acceleration can be calculated with the vehicle speed and the curvature of the ahead road. The adequateness of the integrated control algorithm in the longitudinal and lateral direction is verified by digital simulation experiments. Finally, the possibilities of realization of the image processing system and the speed/steerage integrated control system are also confirmed by experiments using a 1/10 scale model car. |
