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

IEEE Transactions on Intelligent Transportation Systems

Volumn 9, Issue 2, 2008, Pages 246-263

  Wu, Shinq Jen ^b   Chiang, Hsin Han ^a,c   Perng, Jau Woei ^a,d   Chen, Chao Jung ^c   Wu, Bing Fei ^a,c   Lee, Tsu Tian ^a,c,e  

^a IEEE

^b DA YEH UNIVERSITY   (Taiwan)

^c NATIONAL CHIAO TUNG UNIVERSITY   (Taiwan)

^d NATIONAL SUN YAT SEN UNIVERSITY   (Taiwan)

^e NATIONAL TAIPEI UNIVERSITY OF TECHNOLOGY   (Taiwan)

Author keywords

Automated steering control; Crossover principle model; Fuzzy gain scheduling (FGS); Lane keeping; Lateral vehicle control; Vision system

Indexed keywords

ARCHITECTURAL DESIGN; COMPUTER NETWORKS; INTEGRATED OPTICS; INTEGRATION; INTELLIGENT SYSTEMS; MICROFLUIDICS; NEURAL NETWORKS; ONLINE SYSTEMS; REAL TIME SYSTEMS; ROADS AND STREETS; STANDARDS; VEHICLES; VISUAL COMMUNICATION;

CLOSED-LOOP SYSTEMS; CROSS-OVER MODEL; DRIVING BEHAVIORS; FEEDBACK CONTROLLERS; FUZZY GAIN SCHEDULING; HETEROGENEOUS (HYBRID) SYSTEMS; IN VEHICLE; INTEGRATED SYSTEMS; LANE KEEPING; LANE MARKINGS; MANUAL TUNING; REAL TIME VISION; RELATIVE POSITIONING; STANDARD TESTING; STEERING WHEELS; TESTING CENTER; TRIAL AND ERROR; VEHICLE PLATFORMS; VISION SYSTEMS;

ROAD AND STREET MARKINGS;

EID: 45249101110     PISSN: 15249050     EISSN: None     Source Type: Journal    
DOI: 10.1109/TITS.2008.922874     Document Type: Article

References (35)

1. S. Huang, W. Ren, and S. C. Chan, "Design and performance evaluation of mixed manual and automated control traffic," IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol. 30, no. 6, pp. 661-673, Nov. 2000.
2. A. Vahidi and A. Eskandarian, "Research advances in intelligent collision avoidance and adaptive cruise control," IEEE Trans. Intell. Transp. Syst., vol. 4, no. 3, pp. 143-153, Sep. 2003.
3. D. Pomerleau, "RALPH: Rapidly adapting lateral position handler," in Proc. IEEE Intell. Veh. Symp., 1995, pp. 506-511.
4. D. Pomerleau, "Visibility estimation from a moving vehicle using the RALPH vision system," in Proc. IEEE Intell. Transp. Syst., 1997, pp. 906-911.
5. M. Lutzeler and E. D. Dickmanns, "Road recognition with MarVEye," in Proc. IEEE Intell. Veh. Symp., Stuttgart, Germany, 1998, pp. 112-117.
6. M. Bertozzi and A. Broggi, "GOLD: A parallel real-time stereo vision system for generic obstacle and lane detection," IEEE Trans. Image Process., vol. 7, no. 1, pp. 62-81, Jan. 1998.
7. A. Broggi, M. Bertozzi, G. Lo, C. Bianco, and A. Piazzi, "Visual perception of obstacles and vehicles for platooning," IEEE Trans. Intell. Transp. Syst., vol. 1, no. 3, pp. 164-176, Sep. 2000.
8. M. Bertozzi, A. Broggi, and A. Fascioli, "Vision-based intelligent vehicles: State of the art and perspectives," Robot. Auton. Syst., vol. 32, no. 1, pp. 1-16, Jul. 2000.
9. A. Broggi, M. Bertozzi, A. Fascioli, and G. Conte, Automatic Vehicle Guidance: The Experience of the ARGO Autonomous Vehicle. Singapore: World Scientific, 1999.
10. C. J. Taylor, J. Malik, and J. Weber, "A real-time approach to stereopsis and lane-finding," in Proc. IEEE Intell. Veh. Symp., 1996, pp. 207-212.
11. C. J. Taylor,. J. Kosecka, R. Blasi, and J. Malik, "A comparative study of vision-based lateral control strategies for autonomous highway driving," Int. J. Rob. Res., vol. 18, no. 5, pp. 442-453, May 1999.
12. C. Hatipoglu, Ü. Özgüner, and K. A. Redmill, "Automated lane change controller design," IEEE Trans. Intell. Transp. Syst., vol. 4, no. 1, pp. 13-22, Mar. 2003.
13. E. D. Dickmanns and B. D. Mysliwetz, "Recursive 3-D road and relative ego-state recognition," IEEE Trans. Pattern Anal. Mach. Intell., vol. 14, no. 2, pp. 199-213, Feb. 1992.
14. S. Tsugawa, "Vision-based vehicles in Japan: Machine vision systems and driving control systems," IEEE Trans. Ind. Electron., vol. 41, no. 4, pp. 398-405, Aug. 1994.
15. D.-C. Liaw, H.-H. Chiang, and T.-T. Lee, "Elucidating vehicle lateral dynamics using a bifurcation analysis," IEEE Trans. Intell. Transp. Syst., vol. 8, no. 2, pp. 195-207, Jun. 2007.
16. R. Chapuis, J. Gallice, F. Jurie, and J. Alizon, "Real time road mark following," Signal Process., vol. 24, no. 3, pp. 331-343, Dec. 1991.
17. R. Chapuis, R. Aufrere, and F. Chausse, "Accurate road following and reconstruction by computer vision," IEEE Trans. Intell. Transp. Syst., vol. 3, no. 4, pp. 261-270, Dec. 2002.
18. R. Labayrade, J. Douret, and D. Aubert, "A multi-model lane detector that handles road singularities," in Proc. IEEE Intell. Transp. Syst., Sep. 2006, pp. 1143-1148.
19. Z. Kim, "Realtime lane tracking of curved local road," in Proc. IEEE Intell. Transp. Syst., Sep. 2006, pp. 1149-1155.
20. B. F. Wu, C. J. Chen, C. C. Chiu, and T. C. Lai, "A real-time robust lane detection approach for autonomous vehicle environment," in Proc. 6th IASTED Int. Conf. Signal Image Process., Honolulu, HI, Aug. 2004, pp. 518-523.
21. C. J. Chen, "The study of the real-time image processing approaches to intelligent transportation systems," Ph.D. dissertation, National Chiao Tung Univ., Hsinchu, Taiwan, R.O.C., Oct. 2006.
22. M. A. Sotelo, F. J. Rodriguez, and L. Magdalena, "VIRTUOUS: Vision-based road transportation for unmanned operation on urban-like scenarios," IEEE Trans. Intell. Transp. Syst., vol. 5, no. 2, pp. 69-83, Jun. 2004.
23. Y. U. Yim and S. Y. Oh, "Three-feather-based automatic lane detection algorithm (TFALDA) for autonomous driving," IEEE Trans. Intell. Transp. Syst., vol. 4, no. 4, pp. 219-225, Dec. 2003.
24. A. Giachetti, M. Campani, and V. Torre, "The use of optical flow for road navigation," IEEE Trans. Robot. Autom., vol. 14, no. 1, pp. 34-48, Feb. 1998.
25. L. Giubbolini, "A multistatic microwave radar sensor for short range anticollision warning," IEEE Trans. Veh. Technol., vol. 49, no. 6, pp. 2270-2275, Nov. 2000.
26. T. Hessburg and M. Tomizuka, "Fuzzy logic control for lateral vehicle guidance," IEEE Control Syst. Mag., vol. 14, no. 4, pp. 55-63, Aug. 1994.
27. A. Stentz, M. Hebert, and M. Thorpe, Intelligent Unmanned Ground Vehicles. Autonomous Navigation Research at Carnegie Mellon. Norwell, MA: Kluwer, 1997.
28. R. Rajamani et al., "Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons," IEEE Trans. Control Syst. Technol., vol. 8, no. 4, pp. 695-708, Jul. 2000.
29. R. A. Hess and A. Modjtahedzadeh, "A control theoretic model of driver steering behavior," IEEE Control Syst. Mag., vol. 10, no. 5, pp. 3-8, Aug. 1990.
30. S.-J. Wu, H.-H. Chiang, J.-W Perng, T.-T. Lee, and C.-J. Chen, "The automated lane-keeping design for an intelligent vehicle," in Proc. IEEE Intell. Veh. Symp., Las Vegas, NV, Jun. 2005, pp. 508-513.
31. J. Ackermann, "Robust control prevents car skidding," IEEE Control Syst. Mag., vol. 17, no. 3, pp. 23-31, Jun. 1997.
32. W. H. Crouse and D. L. Anglin, Automotive Mechanics. New York: McGraw-Hill, 1993.
33. R. C. Gonzalez and R. E. Woods, Digital Image Processing, 2nd ed. Englewood Cliffs, NJ: Prentice-Hall, 2002.
34. G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, 3rd ed. Reading, MA: Addison-Wesley, 1994.
35. [Online]. Available: http://www.dspace.com/ww/en/pub/home/products/hw/ micautob.cfm