Experimental results in vision-based lane keeping for highway vehicles

被引：0
|
作者：
Cerone, V [1 ]
Chinu, A [1 ]
Regruto, D [1 ]
机构：
[1] Politecn Torino, Dipartimento Automat & Informat, I-10129 Turin, Italy
来源：
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2002年 / 1-6卷
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：
In this paper we address the problem of lateral control of vehicles for highway lane keeping using vision system. First we present a suitable simplified model of the plant and show its agreement with typical highway experimental conditions. Then, we formulate the control problem and propose a SISO control strategy based on driver behaviour emulation. The controller design is carried out using classical loop-shaping techniques and taking into account the model uncertainty. The experimental tests, conducted on italian highways using a FIAT Brava 1600 ELX provided by Centro Ricerche Fiat, showed the good performances of the designed control system.
引用
收藏
页码：869 / 874
页数：6
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