We propose a new approach for vision based longitudinal and lateral vehicle control. The novel feature of this approach is the use of binocular vision. We integrate two modules consisting of a new, domain-speciic, eecient binocular stereo algorithm, and a lane marker detection algorithm, and show that the integration results in a improved performance for each of the modules. Longitudinal contro...

An analytical relationship is derived between the angles of two parallel road markings, projected onto an image plane, and the lateral position of the host vehicle. The resulting model proves that the relative position of a vehicle can be determined by the two lane angles alone, independent of camera height, yaw, and tilt. Furthermore, we find an optimally stable set of values for the measureme...

Software to track sample lanes automatically in four-color, fluorescence-based, electrophoretic gel images has been developed for application in large-scale DNA sequencing projects. Lanes and lane boundaries are tracked by analyzing a first difference approximation to the gradient of a vertically integrated and processed "brightness" profile. Initially lanes are located in a region of the gel i...

This paper proposes a novel algorithm for decision-making on autonomous lane change manoeuvre in vehicles. The proposed approach defines a number of constraints, based on the vehicle’s dynamics and environmental conditions, which must be satisfied for a safe and comfortable lane change manoeuvre. Inclusion of the lateral position of other vehicles on the road and the tyre-road friction are the ...

This paper presents the design of a H∞ controller dedicated to the lateral driving assistance including lane keeping and yaw dynamic enhancement. It is used to add a steering torque to that of the driver in order to improve the rejection of external disturbances (such as lateral wind) despite uncertainties such as road adhesion, longitudinal velocity, and driver dynamics. The simulation results...

Location is one of the most important information in the industrial world and there are many systems provide location information. GPS is the most universal positioning method. Especially, RTK(Real-Time Kinematic) algorithm is commonly used for ITS(Intelligent Transport System) precise positioning. Moreover, for the ITS, the fundamental requirement is that the positioning system can provide use...

centrations of diazepam in the blood, but previous studies (7) have shown that a single 10-mg oral dose will, after I to 2 hours, produce concentrations similar to those in patients following a typical dosage regimen of 5 mg, three times daily. This does not imply that shortand longterm diazepam effects will necessarily be the same because of equivalent blood concentrations, nor that healthy vo...

In the present experiment we investigated the importance of velocity information during a lane-centering task between the walls of a simulated tunnel. We v aried both simulated velocity and the spatial frequency content of the walls' surfaces, in order to address the innuence of each parameter on steering performance. Further, this performance was compared to the eeectiveness of lateral control...

Lane detection plays a key role in the vision-based driver assistance system and is used for vehicle navigation, lateral control, collision prevention, or lane departure warning system. In this paper, we present an adaptive method for detecting lane marking based on the intensity of road images in night scene which is the cause of numerous accidents. First, a region of interest (ROI) image is e...

The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Abstract This report is concerned with lane change maneuver in automated highway s...