Vision-based lateral control of vehicles

We describe the problem of automated steering using computer vision, focusing the analysis and design on appropriate lateral controllers. We investigate various static feedback strategies where the measurements obtained from vision, namely offset from the centerline at some lookahead distance and the angle between the road tangent and the orientation of the vehicle at some lookahead distance, are directly used for control. Within this setting we explore the role of lookahead, its relation to the vision processing delay, the longitudinal velocity and road geometry. Results from ongoing experiments with our autonomous vehicle system are presented along with simulation results.