Abstract
An expert driver can track the line precisely and gives better feeling of confidence． In our previous works, it was indicated that an expert driver uses optical flow information while driving, and we constructed a driver model focused on optical flow． Applying this optical flow model to automatic steering systems, a human-oriented system might be able to be developed． In this paper, we propose a nonlinear controller to apply the optical flow model to a vehicle control system． We implement the nonlinear controller to a vehicle control system, and in-vehicle researches are performed． Then, the experimental results are also presented to confirm the proposed controller works well．
