Automatic Steering Control System Design Utilizing a Visual Feedback Approach

Shuichi Adachi; Tadahiro Fujihira; Yukihiro Fujiwara

doi:10.1016/S1474-6670(17)34960-1

Automatic Steering Control System Design Utilizing a Visual Feedback Approach

Shuichi Adachi, Tadahiro Fujihira, Yukihiro Fujiwara

Research output: Contribution to journal › Conference article › peer-review

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 language	English
Pages (from-to)	1423-1428
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	16
DOIs	https://doi.org/10.1016/S1474-6670(17)34960-1
Publication status	Published - 2003 Jan 1
Externally published	Yes
Event	13th IFAC Symposium on System Identification, SYSID 2003 - Rotterdam, Netherlands Duration: 2003 Aug 27 → 2003 Aug 29

Keywords

automatic steering
robust control
system identification
visual feedback

ASJC Scopus subject areas

Control and Systems Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1016/S1474-6670(17)34960-1

Cite this

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title = "Automatic Steering Control System Design Utilizing a Visual Feedback Approach",

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.",

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author = "Shuichi Adachi and Tadahiro Fujihira and Yukihiro Fujiwara",

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note = "13th IFAC Symposium on System Identification, SYSID 2003 ; Conference date: 27-08-2003 Through 29-08-2003",

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T1 - Automatic Steering Control System Design Utilizing a Visual Feedback Approach

AU - Adachi, Shuichi

AU - Fujihira, Tadahiro

AU - Fujiwara, Yukihiro

PY - 2003/1/1

Y1 - 2003/1/1

N2 - 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.

AB - 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.

KW - automatic steering

KW - robust control

KW - system identification

KW - visual feedback

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DO - 10.1016/S1474-6670(17)34960-1

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ER -

Automatic Steering Control System Design Utilizing a Visual Feedback Approach

Abstract

Keywords

ASJC Scopus subject areas

UN SDGs

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