マシンビジョンによるインテリジェントビークルのプレビューラテラル制御

抄録

This paper describes a new preview lateral control algorithm for autonomous vehicles with machine vision and experiments with an AGV conducted to demonstrate the feasibility of the algorithm. Compensation of the delay due to the time for image processing is also considered.
The steering control algorithm uses a reference line along a path for lateral control. It finds the control by approximating the reference line with a cubic curve, a coefficient of which gives the steering control. The algorithm uses the whole information in the two-dimensional field of view, which enables robust and smooth lateral control even if a reference line is not aligned or is composed of only straight segments.