NDLI: A new robust control system with optimized use of the lane detection data for vehicle full lateral control under strong curvatures

Content Provider	IEEE Xplore Digital Library
Author	Netto, M. Blosseville, J.-M. Lusetti, B. Mammar, S.
Copyright Year	2006
Description	Author affiliation: Lab. sur les Interactions Vehicule-Infrastructure-Conducteur, LCPC/INRETS, Versailles (Netto, M.; Blosseville, J.-M.; Lusetti, B.)
Abstract	In this work, we have proposed and implemented in our prototype vehicle a complete lateral control system that works with a good performance even for strong curvatures. The proposed system has important new features with respect to the known systems. While a lookahead distance linear with the speed is often proposed, we have proposed here a quadratic lookahead distance of the speed, that improved considerably the tracking of the lane in curves. A strategy to optimize the use of the information coming from the lane detection module is also proposed. The logics is, if we do not have optimal lane detection exactly in the desired lookahead distance, but in the proximities of this distance we can still control the vehicle with high accuracy. Finally, we have proposed a visual interface that alerts the driver in the case of a degradation in the lane detection. The driver can deactivate the lateral control whenever he wants by simply counteracting the system and an automatic reactivation of the system is provided under strict conditions on the vehicle positioning and on the quality of the lane detection
Sponsorship	IEEE IT
Starting Page	1382
Ending Page	1387
File Size	289432
Page Count	6
File Format	PDF
ISBN	1424400937
DOI	10.1109/ITSC.2006.1707416
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-09-17
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle detection Robust control Control systems Vehicles Automatic control Prototypes Logic Optimal control Degradation Vehicle driving
Content Type	Text
Resource Type	Article

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