Implementation of autonomous vehicles with the Hough transform and fuzzy control

Yu-Kuen Tsai, Han-Ying Lin, Pau-Lo Hsu, Bor-Chyun Wang

研究成果: Conference contribution同行評審

2 引文 斯高帕斯(Scopus)

摘要

An automatic driving system for a golf car is developed and tested in the campus. The system utilizes a single vision sensor CCD and adopts the road-model-matching method to obtain the lane marks by applying the Hough transform method. Compared with the inverse perspective mapping (IPM) method of which is affected greatly by the position, yaw and tilt angle of the camera [1] with heavy computation, the present method directly detects the lane marks without including information of the camera. Besides, the present method can be applied to detect curved lane marks simply by using a 2(rd)-order road model. Moreover, in the control for the nonholonomic vehicle, the commonly used PID control is not suitable for the automatic driving system. This paper proposes two different fuzzy logic controllers (FLCs) with nine and fifteen rules, respectively, to achieve the autonomous driving performance satisfactorily.
原文English
主出版物標題PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8
發行者IEEE
頁面2090-+
ISBN(電子)978-4-907764-28-9
ISBN(列印)978-4-907764-28-9
出版狀態Published - 2007
事件Annual Conference on the Society-of-Instrument-and-Control-Engineers - Kagawa University, Takamatsu, Japan
持續時間: 17 九月 200720 九月 2007

Conference

ConferenceAnnual Conference on the Society-of-Instrument-and-Control-Engineers
國家/地區Japan
城市Takamatsu
期間17/09/0720/09/07

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