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A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving

1999; SAGE Publishing; Volume: 18; Issue: 5 Linguagem: Inglês

10.1177/027836499901800502

1741-3176

Camillo J. Taylor, Jana Košecká, R. Blasi, Jitendra Malik,

Vehicle Dynamics and Control Systems

With the increasing speeds of modern microprocessors, it has become ever more common for computer-vision algorithms to find application in real-time control tasks. In this paper, we present an analysis of the problem of steering an autonomous vehicle along a highway based on the images obtained from a CCD camera mounted in the vehicle. We explore the effects of changing various important system parameters like the vehicle velocity, the look-ahead range of the vision sensor, and the processing delay associated with the perception and control systems. We also present the results of a series of experiments that were designed to provide a systematic comparison of a number of control strategies. The control strategies that were explored include a lead-lag control law, a full-state linear controller, and an input-output linearizing control law. Each of these control strategies was implemented and tested at highway speeds on our experimental vehicle platform, a Honda Accord LX sedan.