Automated Steering Control Design by Visual Feedback Approach-System Identification and Control Experiments with a Radio-Controlled Car-

Yukihiro Fujiwara, Masakazu Yoshii, Yasuhito Arai, Shuichi Adachi

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

Advanced safety vehicle (ASV) assists drivers’ manipulation to avoid traffic accidents. A variety of researches on automatic driving systems are necessary as an element of ASV. Among them, we focus on visual feedback approach in which the automatic driving system is realized by recognizing road trajectory using image information. The purpose of this paper is to examine the validity of this approach by experiments using a radio-controlled car. First, a practical image processing algorithm to recognize white lines on the road is proposed. Second, a model of the radio-controlled car is built by system identification experiments. Third, an automatic steering control system is designed.based on Hcontrol t heory. Finally, the effectiveness of the designed control system is examined via traveling experiments.

Original languageEnglish
Pages (from-to)628-633
Number of pages6
JournalIEEJ Transactions on Industry Applications
Volume123
Issue number5
DOIs
Publication statusPublished - 2003 Sep 1
Externally publishedYes

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Keywords

  • auto steering
  • Hcontrol
  • system identification
  • visual feedback

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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