Automatic steering control using CCD camera

In this paper we present the vision system used by the autonomous intelligent vehicle to sense the surrounding environment. With the B/W CCD camera, the system is able to detect the lane marking and to localize the vehicle''s position in real time and, thanks to an electric DC motor mounted on the steering column, it can autonomously steer the vehicle.

We tested the system by implementing on EF SONATA (Hyundai Motor Co.) in the test field of laboratory and verified that the steering control drove the vehicle as smoothly as a human being along both straight and curve roads with maximum 100 k/h.