The stability and performance of a vision-based vehicle lateral control system are analyzed. Effects of look-ahead distance, vision delay, and vehicle speed on the performance of vision feedback control system are examined by using frequency domain and time domain methods. A measurement model of the vision system is derived from the point of view of multiple sensors. The quantization error of the vision system is analyzed and the way of extracting essential information for control is studied. Based on this analysis, some guidelines for the design of vision-based controllers are proposed. A design example is further illustrated for a vision system with a substantial time delay.


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    Title :

    Analyses of vision-based lateral control for automated highway system


    Contributors:

    Published in:

    Vehicle System Dynamics ; 30 , 5 ; 345-373


    Publication date :

    1998


    Size :

    29 Seiten, 7 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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