A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving

ct This paper willpresent the resultsof a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understandingof the characteristics of various control laws that could be applied to this problem with a view to making informed design decisions. The control strategies that we explored include a lead lag control law, a fullstate linear controller and input-output linearizing control law. Each of these control strategies was implemented and tested on our experimental vehicle, a Honda Accord LX, both with and withouta curvature feedforward component.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Jana Kosecka, Robert Blasi, Camillo J. Taylor, Jitendra Malik
• Keywords: Control Law, Control Strategies, ICRA 1998, Robotics, Vision-based Control Strategies