Experimental studies on dynamics performance of lateral and longitudinal control for autonomous vehicle using image processing
This paper presents a simulation of vehicle driving control system in terms of lateral and longitudinal control using image processing. The main contribution of this study is it contributes an algorithm of vehicle lane detection and tracking which based on colour cue segmentation, Canny edge detecti...
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| Main Author: | |
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| Format: | Conference or Workshop Item |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/317/ http://eprints.uthm.edu.my/317/1/khalid_isa.pdf |
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| Summary: | This paper presents a simulation of vehicle driving
control system in terms of lateral and longitudinal
control using image processing. The main contribution
of this study is it contributes an algorithm of vehicle
lane detection and tracking which based on colour cue
segmentation, Canny edge detection and Hough
transform. The algorithm gave good result in detecting
straight and smooth curvature lane on highway even
the lane was affected by shadow. Then by combining
and processing the result of lane detection process
with vehicle dynamics model, this system will produce
the dynamics performance of vehicle driving control.
This simulation system was divided into four
subsystems: sensor, image processing, controller and
vehicle. All the methods have been tested on video data
and the experimental results have demonstrated a fast
and robust system. |
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