A Lateral Control Algorithm for Vision-based Automated Vehicles using a Reference Line beside them

摘要

This paper presents a lateral control algorithm for a vision-based automated vehicle and experimental results. The vision system looks downwards and detects a reference line for vehicle guidance immediately beside the vehicle. The features of the vision system are the avoidance of the influence of the lighting condition, and the availability of a reference line for vehicle guidance even on the following vehicles in an automated platoon. The lateral control is based on PD control, and expressed by a linear combination of lateral deviation of the vehicle from the reference line and the relative heading of the vehicle against the reference line. The algorithm is applicable not only to following vehicles in an automated platoon, but also to automated vehicles driving side-by-side if the gap and the relative headings of two vehicles are detected. The simulation studies and experiments with a small robotic vehicle have been conducted to show the feasibility of the lateral control algorithm.