• Journal of Advanced Navigation Technology
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• v.15 no.3
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• pp.432-440
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• 2011

This paper focus on lane recognition performance test using a road lane constraint with transport infrastructure information. The constraint is determined through the relation of the drive direction and vehicle position. The road lane constraint sets large limit for first and last lane. To analyze the performance of the proposed method, simulations are carried out. The results show that the lane recognition performance using a constraint is improved 40% at four-lane, 25% at six-lane, 15% at eight-lane.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.226-231
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• 1998

This paper describes how a priori road geometry and its estimation may be used to detect road boundaries and lane markings in road scene images. We assume flat road and road boundaries and lane markings are all Bertrand curves which have common principal normal vectors. An active contour is used for the detection of road boundary, and we reconstruct its geometric property and make use of it to detect lane markings. Our approach to detect road boundary is based on minimizing energy function including edge related term and geometric constraint term. Lane position is estimated by pixel intensity statistics along the parallel curve shifted properly from boundary of the road. We will show the validity of our algorithm by processing real road images.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.257-257
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• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.659-665
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• 2000

In this paper a platoon merging control system is considered as a remotely located system with state represented by a stochastic process. in the system it is common to encounter situations where a single decision maker controls a large number of subsystems and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise there is a constraint that the observation must be coded and transmitted over a digital communication channel with fintie capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. in this paper we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons the lead vehicle of the following platoon is controlled by a remote control station. Using the observation transmitted over communication channel the remote control station designs the feedback controller. The simulation results show that the intervehicle spacings and the deviations from the desired intervehicle spacing are well regulated.