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JRM Vol.13 No.4 pp. 395-401
doi: 10.20965/jrm.2001.p0395
(2001)

Paper:

Automated Lane Change Control of Vision-Based Vehicle

Shin Kato and Sadayuki Tsugawa

National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba East, Namiki 1-2-1, Tsukuba-shi, Ibaraki-ken, 305-8564 Japan

Received:
January 15, 2001
Accepted:
July 2, 2001
Published:
August 20, 2001
Keywords:
ITS, AVCSS, autonomous vehicle, machine vision, lateral control
Abstract

This paper describes algorithms of path generation and lateral control of an automated vehicle with a vision system for autonomous navigation and lanechange maneuvers. The vision system detects reference lines along which the vehicle is guided. The lateral control consists of steps of reference line detection, path generation, and lateral control calculation. A coefficient of a cubic curve that approximates a series of sampled points on the reference line provides the lateral control. The approximation can be done with a series of sampled points that are detected on the reference line in the field of view with image processing. A path for maneuvers including lane-changing is generated by shifting the series of sampled points. Simulation studies and outdoor experiments were conducted to show the feasibility of the algorithms.

Cite this article as:
Shin Kato and Sadayuki Tsugawa, “Automated Lane Change Control of Vision-Based Vehicle,” J. Robot. Mechatron., Vol.13, No.4, pp. 395-401, 2001.
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