Effects of field of view on lateral control performance in a vision-based autonomous vehicle

摘要

This paper addresses effects of a field of view on lateral control performance in a vision-based autonomous vehicle with simulation studies. When a vehicle drives along a circle with a lateral control algorithm proposed here, the performance is evaluated from a tracking error and ride quality for locations and sizes of the field of view. The results show that a field of view covering from 10[m] to 30[m] in front of a vehicle is the optimal with respect to both the error and the ride quality, and it is independent from the vehicle speed.