Citation

Pomerleau D, Jochem T. IEEE Intell. Syst. 1996; 11(2): 19-27.

Copyright

(Copyright © 1996, IEEE Computer Society)

DOI

10.1109/64.491277

PMID

unavailable

Abstract

Ralph (Rapidly Adapting Lateral Position Handler) is a vision system developed jointly by Carnegie Mellon University and AssistWare Technology Inc. Ralph decomposes vehicle steering into three steps: sampling the image, determining the road curvature, and assessing the lateral offset of the vehicle relative to the lane center. Ralph combines the outputs of the latter two steps into a steering command, which it can send to the steering motor on the Navlab 5 testbed vehicle for autonomous steering control. As a road-departure warning system, Ralph can also compare this command with the human driver's steering direction.