A Development of a Line-Trace Car with Fuzzy Control of Motor Signals and Performance Evaluation

摘要

Automotive driving technologies have attracted to solve the social problems, such as road congestion and car accidents, due to the recent evolution of motorization. This paper focuses on Advanced Driver Assistance System (ADAS), which aims to improve traffic safety. Typical ADAS uses in-vehicle cameras to recognize a driving situation. We developed a line-trace car to simulate an automated driving system. The line-trace car contains a line-scan camera and four reflective photo sensors. The running behavior is controlled by the outputs of the photosensors with fuzzy control, and the line-scan camera observes a driving situation. In the experiment, we followed the course regulations of Japan Micom Car Rally, and the running performance was measured by the image captured by the line-scan camera and the sensor outputs. The observed running behavior was smooth when driving corners and straights of the course, the line-scan camera captured a blurred image due to the lighting condition.