標題: The heterogeneous systems integration design and implementation for lane keeping on a vehicle
作者: Wu, Shinq-Jen
Chiang, Hsin-Han
Perng, Jau-Woei
Chen, Chao-Jung
Wu, Bing-Fei
Lee, Tsu-Tian
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: automated steering control;crossover principle;model;fuzzy gain scheduling (FGS);lane keeping;lateral vehicle control;vision system
公開日期: 1-Jun-2008
摘要: In this paper, an intelligent automated lane-keeping system is proposed and implemented on our vehicle platform, i.e., TAIWAN iTS-1. This system challenges the online integrating heterogeneous systems such as a real-time vision system, a lateral controller, in-vehicle sensors, and a steering wheel actuating motor. The implemented vision system detects the lane markings ahead of the vehicle, regardless of the varieties in road appearance, and determines the desired trajectory based on the relative positions of the vehicle with respect to the center of the road. To achieve more humanlike driving behavior such as smooth turning, particularly at high levels of speed, a fuzzy gain scheduling (FGS) strategy is introduced to compensate for the feedback controller for appropriately adapting to the SW command. Instead of manual tuning by trial and error, the methodology of FGS is designed to ensure that the closed-loop system can satisfy the crossover model principle. The proposed integrated system is examined on the standard testing road at the Automotive Research and Testing Center (ARTC)(1) and extraurban highways.
URI: http://dx.doi.org/10.1109/TITS.2008.922874
http://hdl.handle.net/11536/8738
ISSN: 1524-9050
DOI: 10.1109/TITS.2008.922874
期刊: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume: 9
Issue: 2
起始頁: 246
結束頁: 263
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