The automated lane-keeping design for an intelligent vehicle

被引：0
|
作者：
Wu, SJ [1 ]
Chiang, HH [1 ]
Perng, JW [1 ]
Lee, TT [1 ]
Chen, CJ [1 ]
机构：
[1] Da Yeh Univ, Dept Elect Engn, Changhua, Taiwan
来源：
2005 IEEE Intelligent Vehicles Symposium Proceedings | 2005年
关键词：
intelligent vehicle; automated lane-keeping; vehicle lateral control; vision-based; fuzzy gain scheduling;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a vision-based lane-keeping automated steering system is proposed and is successfully verified in our vehicle platform, TAIWAN iTS-1. The proposed steering system can achieve the accurate detection of the complicated road environment information; and more, the closed-loop automated lane-keeping steering system with virtual look-ahead is stable under varying speed operation. Furthermore, to achieve more manlike driving behavior such as smooth tuning, a fuzzy gain schedule technology is proposed to concern with lateral offset and instant-speed of the vehicle, and hence, to compensate the feedback controller for adapting to the steering wheel command appropriately. The proposed steering system is demonstrated via TAIWAN iTS-1 on the standard testing road in Automotive Research and Testing Center (ARTC) and highway road.
引用
收藏
页码：508 / 513
页数：6
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