The heterogeneous systems integration design and implementation for lane keeping on a vehicle

Shinq Jen Wu*, Hsin Han Chiang, Jau Woei Perng, Chao Jung Chen, Bing Fei Wu, Tsu Tian Lee

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

114 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
文章編號4538013
頁(從 - 到)246-263
頁數18
期刊IEEE Transactions on Intelligent Transportation Systems
9
發行號2
DOIs
出版狀態已發佈 - 2008 6月
對外發佈

ASJC Scopus subject areas

  • 汽車工程
  • 機械工業
  • 電腦科學應用

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