Implementation of a System for Controlling the Lateral Position of a Moving Vehicle and Field Testing of ODOT Sensor-Assisted Steering System

摘要

The overall objective was to design, implement, and test sensor-assisted driver control of an ODOT dump truck. Requirements included repeatedly steering a loaded or unloaded truck over embedded sensors to a lateral accuracy of +/- one inch, time-sharing the truck with normal uses, and providing for safe operation. The design and implementation of the Sensor-Assisted Steering System described in this report has verified that the suite of sensors, actuators, and computation resources can be packaged in and powered from a standard ODOT dump truck at a reasonable component cost.