Temporal preview estimation for design of a low cost lane-following system using a forward-facing monocular camera

Alexander Brown, Sean Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Computer-based guidance of passenger vehicles is a common reality today, but cost, computation, and robustness challenges remain to obtain accurate vehicle state estimates. This study builds on previous work by the authors towards the development of a vehicle state estimation framework that uses optimal preview control theory to fuse map, GPS, inertial, and forward-looking camera information in a linear filter that offers a-priori predictions of state estimate accuracy. By designing an optimal preview controller around a preview filter designed to make full use of a test vehicle's low-cost sensors, on-board map, and available visibility, a matched perception and control system is obtained. The resulting preview-based guidance system has a structure similar to LQG algorithms, and is tested both in simulation and on a real vehicle. The closed loop system provides lane-level tracking performance with low cost sensors.

Original languageEnglish (US)
Title of host publication2014 IEEE Intelligent Vehicles Symposium, IV 2004 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1457-1462
Number of pages6
ISBN (Print)9781479936380
DOIs
StatePublished - Jan 1 2014
Event25th IEEE Intelligent Vehicles Symposium, IV 2014 - Dearborn, MI, United States
Duration: Jun 8 2014Jun 11 2014

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings

Other

Other25th IEEE Intelligent Vehicles Symposium, IV 2014
Country/TerritoryUnited States
CityDearborn, MI
Period6/8/146/11/14

All Science Journal Classification (ASJC) codes

  • Modeling and Simulation
  • Automotive Engineering
  • Computer Science Applications

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