A study on neural networks for vision-based road following of autonomous vehicle

被引：0

作者：

Jeong, DY ^{[1
]}

Park, SJ ^{[1
]}

Han, SH ^{[1
]}

Lee, MH ^{[1
]}

Shibata, T ^{[1
]}

机构：

[1] Kyungnam Univ, Grad Sch, Dept Mech Design, Masan 631701, South Korea

来源：

ISIE 2001: IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS PROCEEDINGS, VOLS I-III | 2001年

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：

This paper describes a neural network control for an autonomous vehicle to follow roadways with vision camera. Without a complex geometric reasoning from visual image to vehicle-centered representation in conventional studies, the control system transfers the inputs of visual information into the output of steering angle directly. The neural networks replaces the human driving skill of nonlinear relation between vanishing lines of road boundary on the camera image and the steering angle of vehicle on the real ground. In straight and curved road, the driving performances by the proposed control scheme are measured in the configuration of disturbance and white noise correspond to vehicle joggling and sensing error.

引用

页码：1609 / 1614

页数：6

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