Driving control system for an autonomous vehicle using multiple observed point information

A driving control system has been developed in which the weighting given to lane marker (white line) information obtained at multiple observed points ahead of the vehicle is varied according to the driving knowledge, global driving commands and data on the white line shapes. This driving knowledge stored in the memory includes driving behavior expressed in a form of rules, which make it possible to achieve the actual driving operations performed by human drivers. As a result, smooth, stable steering control can be obtained on various types of curved roads having a continuously varying radius of curvature and width. Tests of this driving control system indicate that it provides driving performance on a par with that of skilled drivers