RALPH decomposes the problem of steering a vehicle into three steps, 1) sampling of the image, 2) determining the road curvature, and 3) determining the lateral offset of the vehicle relative to the lane center. The output of the later two steps are combined into a steering command, which can be compared with the human driver’s current steering direction as part of a road departure warning system, or sent directly to the steering motor on our Navlab 5 testbed vehicle for autonomous steering control.
Displaying 4 Publications
1997
Conference Paper, Proceedings of IEEE Intelligent Transportation Systems Conference (ITSC '97), pp. 906 - 911, November, 1997
1996
Conference Paper, Proceedings of IEEE Symposium on Intelligent Vehicles (IV '96), pp. 333 - 338, September, 1996
Journal Article, IEEE Expert: Special Issue on Intelligent System and their Applications, Vol. 11, No. 2, pp. 19 - 27, April, 1996
1995
Conference Paper, Proceedings of IEEE Intelligent Vehicles Symposium (IV '95), pp. 506 - 511, September, 1995
