A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving
نویسندگان
چکیده
With the increasing speeds of modern microprocessors it has become ever more common for computer vision algorithms to nd application in real-time control tasks. In this paper we present an analysis of the problem of steering an autonomous vehicle along a highway based on the images obtained from a CCD camera mounted in the vehicle. We explore the e ects of changing various important system parameters like the vehicle velocity, the lookahead range of the vision sensor and the processing delay associated with the perception and control systems. We also present the results of a series of experiments that were designed to provide a systematic comparison of a number of control strategies. The control strategies that were explored include a lead-lag control law, a full-state linear controller and input-output linearizing control law. Each of these control strategies was implemented and tested at highway speeds on our experimental vehicle platform, a Honda Accord LX sedan.
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