TY - JOUR
T1 - The heterogeneous systems integration design and implementation for lane keeping on a vehicle
AU - Wu, Shinq Jen
AU - Chiang, Hsin Han
AU - Perng, Jau Woei
AU - Chen, Chao Jung
AU - Wu, Bing Fei
AU - Lee, Tsu Tian
N1 - Funding Information:
Manuscript received October 24, 2005; revised February 20, 2006, July 15, 2006, May 15, 2007, August 22, 2007, October 2, 2007, and October 27, 2007. This work was supported by the Program for Promoting Academic Excellence of Universities under Grant NSC 96-2752-E-009-012-PAE. The Associate Editor for this paper was U. Nunes.
PY - 2008/6
Y1 - 2008/6
N2 - In this paper, an intelligent automated lane-keeping system is proposed and implemented on our vehicle platform, i.e., TAIWAN iTS-1. This system challenges the online integrating heterogeneous systems such as a real-time vision system, a lateral controller, in-vehicle sensors, and a steering wheel actuating motor. The implemented vision system detects the lane markings ahead of the vehicle, regardless of the varieties in road appearance, and determines the desired trajectory based on the relative positions of the vehicle with respect to the center of the road. To achieve more humanlike driving behavior such as smooth turning, particularly at high levels of speed, a fuzzy gain scheduling (FGS) strategy is introduced to compensate for the feedback controller for appropriately adapting to the SW command. Instead of manual tuning by trial and error, the methodology of FGS is designed to ensure that the closed-loop system can satisfy the crossover model principle. The proposed integrated system is examined on the standard testing road at the Automotive Research and Testing Center (ARTC)1 and extraurban highways.
AB - In this paper, an intelligent automated lane-keeping system is proposed and implemented on our vehicle platform, i.e., TAIWAN iTS-1. This system challenges the online integrating heterogeneous systems such as a real-time vision system, a lateral controller, in-vehicle sensors, and a steering wheel actuating motor. The implemented vision system detects the lane markings ahead of the vehicle, regardless of the varieties in road appearance, and determines the desired trajectory based on the relative positions of the vehicle with respect to the center of the road. To achieve more humanlike driving behavior such as smooth turning, particularly at high levels of speed, a fuzzy gain scheduling (FGS) strategy is introduced to compensate for the feedback controller for appropriately adapting to the SW command. Instead of manual tuning by trial and error, the methodology of FGS is designed to ensure that the closed-loop system can satisfy the crossover model principle. The proposed integrated system is examined on the standard testing road at the Automotive Research and Testing Center (ARTC)1 and extraurban highways.
KW - Automated steering control
KW - Crossover principle model
KW - Fuzzy gain scheduling (FGS)
KW - Lane keeping
KW - Lateral vehicle control
KW - Vision system
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U2 - 10.1109/TITS.2008.922874
DO - 10.1109/TITS.2008.922874
M3 - Article
AN - SCOPUS:45249101110
SN - 1524-9050
VL - 9
SP - 246
EP - 263
JO - IEEE Transactions on Intelligent Transportation Systems
JF - IEEE Transactions on Intelligent Transportation Systems
IS - 2
M1 - 4538013
ER -