Visual Distance Estimation for Pure Pursuit Based Platooning with a Monocular Camera

被引：0

作者：

Mitchell, Samuel ^{[1
]}

Sajjad, Imran ^{[1
]}

Al-Hashimi, Ali ^{[1
]}

Dadras, Soodeh ^{[1
]}

Gerdes, Ryan M. ^{[2
]}

Sharma, Rajnikant ^{[3
]}

机构：

[1] Utah State Univ, Dept Elect & Comp Engn, Logan, UT 84322 USA

[2] Virginia Polytech Inst & State Univ, Dept Elect & Comp Engn, Blacksburg, VA 24061 USA

[3] Univ Cincinnati, Dept Aerosp Engn & Engn Mech, Cincinnati, OH 45221 USA

来源：

2017 AMERICAN CONTROL CONFERENCE (ACC) | 2017年

基金：

美国国家科学基金会;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We detail a sensing method used as a redundant sensor in automated vehicles. A monocular camera can be used to determine the bearing to a target, and this work extends the sensor capabilities to estimate the distance to the target. For a 640 x 400 pixel camera, the distance estimation has a 3 m sensing range. A modified pure pursuit algorithm is presented which allows vehicle following at close proximity. The design of the experimental platform is described. The sensor system was utilized to enable a 1/10 scale vehicle to follow another vehicle at 3 m s(-1).

引用

页码：2327 / 2332

页数：6

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