Evaluating the horizontal curve indices performance of freeways is important to developing an understanding of impact to driver safety and comfort. Based on the well-established theory and measurement of driving workload, typical vehicles (include passenger car and truck) were chosen for field driving test with randomly samples of 28 driver. In this research we analyzed the 652 horizontal curve...

This paper addresses the problem of the navigation of a mobile vehicle in outdoor environment. A CatmullRom Spline based lane model which described the perspective effect of parallel lines was proposed for generic lane boundary. As Catmull-Rom Spline can form arbitrary shapes by control points, it can describe a wider range of lane structures than other lane models such as straight and paraboli...

Safety in highway geometric design is one of the main goals to be achieved. However, deterministic criteria do not provide information concerning risk associated with outputs proposed. To yield consistent safety levels, sag vertical curve model on undivided highways was calibrated using a reliability-based framework, which allows incorporate uncertainty variables. The contemplates features vehi...

Navigating a mobile robot through curve path is difficult task in both on-road and off-road navigation. This research provides hardware software platform to address this issue. Two types of have been conducted paper. First, consisting Linear Actuator-based steering mechanism implemented hold the at desired angle. Second, curvature information from Google Maps data collected used improve existin...

An automated steering controller is proposed to track the target path in this paper. Model predictive control is employed to design the controller based on a 5-state road following bicycle model including the steering actuator dynamics. The adaptive preview time is reduced for an increased path geometry change index due to driving from a straight road into a sharp curve. The preview time is inc...