Abstract
This paper presents two steering control algorithms for intelligent vehicles with a machine vision system to detect lane lines or a reference line along a path for lateral control. In one algorithm steering control is given as a weighted sum of deviations at multiple points along the path, the locations of which are defined based on a human driver behavior model. The other algorithm gives steering control by straightforward calculation based on the whole reference line captured in the field of view. Experiments with the vehicles are shown.
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