Title :
A study on neural networks for vision-based road following of autonomous vehicle
Author :
Jeong, D.Y. ; Park, S.J. ; Han, S.H. ; Lee, M.H. ; Shibata, Takanori
Author_Institution :
Dept. of Mech. Design, Kyungnam Univ., Masan, South Korea
Abstract :
This paper describes a neural network control for an autonomous vehicle to follow roadways with a vision camera. Without a complex geometric reasoning from visual image to vehicle-centered representation in conventional studies, the control system transfers the inputs of visual information into the output of steering angle directly. The neural networks replaces the human driving skill of nonlinear relation between vanishing lines of road boundary on the camera image and the steering angle of vehicle on the real ground. In straight and curved road, the driving performances by the proposed control scheme are measured in the configuration of disturbance and white noise correspond to vehicle joggling and sensing error
Keywords :
control system analysis computing; control system synthesis; mobile robots; neurocontrollers; road traffic; robot vision; spatial reasoning; traffic control; autonomous vehicle; complex geometric reasoning; computer simulation; control design; control simulation; disturbance; driving performance; neural network control; sensing error; steering angle; vehicle joggling; vision camera; vision-based road following; visual information; white noise; Cameras; Control systems; Humans; Land vehicles; Mobile robots; Neural networks; Performance evaluation; Remotely operated vehicles; Road vehicles; Vehicle driving;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931947
