A real-time vehicle and lane following vision system for autonomous land vehicles /
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| Other Authors: | , |
| Format: | Thesis Book |
| Language: | English |
| Published: |
1991.
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| Subjects: | |
| Online Access: | ProQuest, Abstract Link to OAKTrust copy |
| Abstract: | There is a need for the development of visual control systems in order to achieve automatic vehicular operations. An original approach to autonomous vehicle-following is developed based upon a visual input system. The vehicle-following problem includes automatic steering and speed control of a visually guided vehicle following the motion of a lead vehicle. The following vehicle is required to travel smoothly while maintaining a safety distance from the lead vehicle. The developed visual control system consists of a stereo camera setup, an image processor, a driving command generator, and a microprocessor controller. The stereo cameras provide a pair of stereo images which are processed by the image processor in order to obtain the range and heading angle of the lead vehicle. Based on this information, the driving command module generates appropriate steering wheel and speed commands which are executed by the microprocessor controller. This procedure therefore encompasses a command structure to physically move the vehicle along a path in the direction of the lead vehicle. The results obtained for both computer simulations and live test runs are presented. The live test runs were carried out using Texas A&M University autonomous vehicle (BART). The results indicate that reasonable lateral deviations from the path travelled by the lead vehicle and comfortable rides for the passengers can successfully be achieved by this control system. In addition, a second initiative of lane following was investigated in this research. Lane following requires the extraction of the lane boundaries from a captured image, the estimation of the vehicle's orientation with respect to the lane, and the generation of appropriate driving commands for guiding or navigating within the lane structure. Simulation results using real images are presented. |
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| Item Description: | Typescript (photocopy). Vita. "Major subject: Electrical Engineering." |
| Physical Description: | xiii, 114 leaves : illustrations ; 29 cm |
| Bibliography: | Includes bibliographical references. |