@article{ref1,
title="A comparative study of vision-based lateral control strategies for autonomous highway driving",
journal="International journal of robotic research",
year="1999",
author="Taylor, Camillo J. and Košecká, Jana and Blasi, Robert and Malik, Jitendra",
volume="18",
number="5",
pages="442-453",
abstract="With the increasing speeds of modern microprocessors, it has become ever more common for computer-vision algorithms to find application in real-time control tasks. In this paper, we present an analysis of the problem of steering an autonomous vehicle along a highway based on the images obtained from a CCD camera mounted in the vehicle. We explore the effects of changing various important system parameters like the vehicle velocity, the look-ahead range of the vision sensor, and the processing delay associated with the perception and control systems.We also present the results of a series of experiments that were designed to provide a systematic comparison of a number of control strategies. The control strategies that were explored include a lead-lag control law, a full-state linear controller, and an input-output linearizing control law. Each of these control strategies was implemented and tested at highway speeds on our experimental vehicle platform, a Honda Accord LX sedan.<p /><p>Language: en</p>",
language="en",
issn="0278-3649",
doi="10.1177/027836499901800502",
url="http://dx.doi.org/10.1177/027836499901800502"
}