TY - GEN
T1 - The automated lane-keeping design for an intelligent vehicle
AU - Wu, Shinq Jen
AU - Chiang, Hsin Han
AU - Perng, Jau Woei
AU - Lee, Tsu Tian
AU - Chen, Chao Jung
PY - 2005
Y1 - 2005
N2 - In this paper, a vision-based lane-keeping automated steering system is proposed and is successfully verified in our vehicle platform, TAIWAN /TS-1. The proposed steering system can achieve the accurate detection of the complicated road environment information; and more, the closed-loop automated lane-keeping steering system with virtual look-ahead is stable under varying speed operation. Furthermore, to achieve more manlike driving behavior such as smooth tuning, a fuzzy gain schedule technology is proposed to concern with lateral offset and instant-speed of the vehicle, and hence, to compensate the feedback controller for adapting to the steering wheel command appropriately. The proposed steering system is demonstrated via TAIWAN iTS-1 on the standard testing road in Automotive Research and Testing Center (ARTC) and highway road.
AB - In this paper, a vision-based lane-keeping automated steering system is proposed and is successfully verified in our vehicle platform, TAIWAN /TS-1. The proposed steering system can achieve the accurate detection of the complicated road environment information; and more, the closed-loop automated lane-keeping steering system with virtual look-ahead is stable under varying speed operation. Furthermore, to achieve more manlike driving behavior such as smooth tuning, a fuzzy gain schedule technology is proposed to concern with lateral offset and instant-speed of the vehicle, and hence, to compensate the feedback controller for adapting to the steering wheel command appropriately. The proposed steering system is demonstrated via TAIWAN iTS-1 on the standard testing road in Automotive Research and Testing Center (ARTC) and highway road.
KW - Automated lane-keeping
KW - Fuzzy gain scheduling
KW - Intelligent vehicle
KW - Vehicle lateral control
KW - Vision-based
UR - http://www.scopus.com/inward/record.url?scp=33745944509&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33745944509&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:33745944509
SN - 0780389611
SN - 9780780389618
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 508
EP - 513
BT - 2005 IEEE Intelligent Vehicles Symposium, Proceedings
T2 - 2005 IEEE Intelligent Vehicles Symposium
Y2 - 6 June 2005 through 8 June 2005
ER -