Vehicle lateral control system using laser radar

Masahiko Nakamura; Alan Y. Arai; Mark P. Bendett; Mitsutaka Nakamura; Roy W. Goudy; Yoshinobu Suzuki; Hideki Kusunoki

doi:10.1117/12.198932

6 January 1995 Vehicle lateral control system using laser radar

Masahiko Nakamura, Alan Y. Arai, Mark P. Bendett, Mitsutaka Nakamura, Roy W. Goudy, Yoshinobu Suzuki, Hideki Kusunoki

Proceedings Volume 2344, Intelligent Vehicle Highway Systems; (1995) https://doi.org/10.1117/12.198932
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

This paper introduces our recent research on vehicle lateral control, a component of an automated highway system (AHS). We have developed a laser radar based automatic steering control system to study the performance and feasibility of such a system in an actual highway environment. Our approach does not require significant infrastructure investment because it is based on the retroreflective road markers currently installed on many roads. The system consists of a laser radar sensor, steering actuator, steering controller, and data processing system. The newly developed laser radar system measures not only the range to a target, but also the azimuth angle of the target in the sensor field of view. The azimuth angle measurement, which is essential for the lateral control system, has been implemented without any moving parts in the sensor system. A line scan CCD is used as the azimuth detector while an APD is used for the range measurement. The vehicle control algorithm was studied using computer simulation and a full-scale test vehicle was developed. Some previous related projects are reviewed and our unique sensor concept is described. The total system performance was demonstrated and evaluated on a California highway. Several issues remaining for further improvement of the system are also discussed.

Citation Download Citation

Masahiko Nakamura, Alan Y. Arai, Mark P. Bendett, Mitsutaka Nakamura, Roy W. Goudy, Yoshinobu Suzuki, and Hideki Kusunoki "Vehicle lateral control system using laser radar", Proc. SPIE 2344, Intelligent Vehicle Highway Systems, (6 January 1995); https://doi.org/10.1117/12.198932

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