A comparative study of vision-based lateral control strategies for autonomous highway driving
- 27 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (10504729), 1903-1908
- https://doi.org/10.1109/robot.1998.680590
Abstract
This paper will present the results of a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understanding of the characteristics of various control laws that could be applied to this problem with a view to making informed design decisions. The control strategies that we 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 on our experimental vehicle, a Honda Accord LX, both with and without a curvature feedforward component.Keywords
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