Automated Steering Control Design using Visual Feedback Approach

¦ System Identi¯on;cation and Control Experiment with a Radio-Controlled Car ¦

Abstract

Advanced safety vehicle (ASV) assists drivers’ manipulation to avoid tra±c accidents. A variety of researches on automatic driving systems are necessary as an element of ASV. Among them, we focus on visual feedback approach in which the automatic driving system is realized by recognizing road trajectory using image information. The purpose of this paper is to examine the validity of this approach by experiments using a radio-controlled car. First, a practical image processing algorithm to recognize white lines on the road is proposed. Second, a model of the radio-controlled car is built by system identi¯on;cation experiments. Third, an automatic steering control system is designed based on H₁ control theory. Finally, the e®ectiveness of the designed control system is examined via traveling experiments.