Article thumbnail

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

By Miguel Angel Olivares-Mendez, Jose Luis Sanchez-Lopez, Felipe Jimenez, Pascual Campoy, Seyed Amin Sajadi-Alamdari and Holger Voos

Abstract

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption

Topics: road vehicles, vision sensor, automatic steering control, speed assistance, computer vision, vision-based control, positioning, driver assistance vision-based system, partial automation, Chemical technology, TP1-1185
Publisher: MDPI AG
Year: 2016
DOI identifier: 10.3390/s16030362
OAI identifier: oai:doaj.org/article:bdeea43c134341e0aa403ed1f2101046
Journal:
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • https://doaj.org/toc/1424-8220 (external link)
  • http://www.mdpi.com/1424-8220/... (external link)
  • https://doaj.org/article/bdeea... (external link)

  • To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.

    Suggested articles