REAL-TIME VEHICLE TRAJECTORY SUPERVISION ON THE HIGHWAY

被引：22

作者：

CHAPUIS, R ^{[1
]}

POTELLE, A ^{[1
]}

BRAME, JL ^{[1
]}

CHAUSSE, F ^{[1
]}

机构：

[1] PSA PEUGEOT CITROEN, DRAS, CTR TECH CITROEN, F-78140 VELIZY VILLACOUBLAY, FRANCE

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1995年 / 14卷 / 06期

关键词：

D O I：

10.1177/027836499501400601

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article presents a method for real-time control of vehicle trajectory on a highway based on an on-board vision system using a single camera. The system has been designed to avoid damage (e.g., due to a sleepy driver). The method is based on the real-time extraction of the lateral vehicle location, which is used to determine the vehicle trajectory. Furthermore, the system is able to correct possible bad road tracking in order to have a complete autonomy. The whole system has been implemented on a single TMS320C50 DSP-based card. Reliable results have been obtained on the highway over several hundreds of kilometers at low and high speeds reaching more than 130 km/hr.

引用

页码：531 / 542

页数：12

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