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Vision Based Path-Following Control System Using Backstepping Control Methodology
Technical Paper
2008-01-0202
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
This paper describes an automated path following system using vision sensor. Lateral control law for path following is especially underlined which is developed by using the backstepping control design methodology. To establish the proposed control system, the lateral offset to the reference path, the heading angle of vehicle relative to tangent line to the path, and path curvature are required. Those inputs to the controller have been calculated through Kalman filter which is frequently adopted for the purpose. The lane mark detection has been achieved in an ECU (Electric Control Unit) platform with vision sensor. The yaw rate and side-slip angle also needed in the controller are estimated by Kalman estimator. To show the performance of the proposed controller under different speeds, experiment has been conducted on a proving ground having straight and curve sections with the curvature of about 260m.
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Citation
Shin, D., Sim, S., Ryu, J., Lee, J. et al., "Vision Based Path-Following Control System Using Backstepping Control Methodology," SAE Technical Paper 2008-01-0202, 2008, https://doi.org/10.4271/2008-01-0202.Also In
Intelligent Vehicle Initiative (IVI) Technology Controls and Navigation Systems, 2008
Number: SP-2193; Published: 2008-04-14
Number: SP-2193; Published: 2008-04-14
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