Abstract
Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.
Highlights
Today the concept of autonomous driving is a very active field of research and first solutions of more and more advanced driver assistance systems are already available in recent models of commercial cars
The presented work shows a vision-based control system approach to command the steering of a passenger vehicle to follow a route
An assistance speed system and an approach to localize the vehicle inside the route based on a single vision sensor is presented
Summary
Today the concept of autonomous driving is a very active field of research and first solutions of more and more advanced driver assistance systems are already available in recent models of commercial cars. As mentioned in [1], “the majority of the technologies required to create a fully autonomous vehicle already exist. The challenge is to combine existing automated functions with control, sensing and communications systems, to allow the vehicle to operate autonomously and safely”. That report presents a classification of the level of autonomy based on the capabilities provided by an autonomous system. The simplest system includes the human driver along with an electronic stability and cruise control, which is available in most of the new car models. The level adds a driver assistance in which steering and/or acceleration is automated in specific situations
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