Automatic Steering Control System Design Utilizing a Visual Feedback Approach

Shuichi Adachi, Tadahiro Fujihira, Yukihiro Fujiwara

Research output: Contribution to journalConference article

1 Citation (Scopus)

Abstract

Advanced safety vehicles (ASV) assist drivers in avoiding traffic accidents, and research in all areas of automatic driving systems is necessary to further develop ASV technology. This paper focuses on a visual feedback approach in which an automatic driving system is obtained by recognizing the road trajectory using image information. The validity of this approach is examined by conducting experiments with a radio-controlled car. First, a practical image processing algorithm that recognizes white lines on the road is proposed. Next, a model of the radio-controlled car is built by system identification experiments and all automatic steering control system is designed based upon H control theory. Finally, the effectiveness of the proposed control system is examined via traveling experiments.

Original languageEnglish
Pages (from-to)1423-1428
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume36
Issue number16
DOIs
Publication statusPublished - 2003 Jan 1
Externally publishedYes
Event13th IFAC Symposium on System Identification, SYSID 2003 - Rotterdam, Netherlands
Duration: 2003 Aug 272003 Aug 29

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Keywords

  • automatic steering
  • robust control
  • system identification
  • visual feedback

ASJC Scopus subject areas

  • Control and Systems Engineering

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