Real-Time Vehicle Trajectory Supervision on the Highway
- 1 December 1995
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 14 (6) , 531-542
- https://doi.org/10.1177/027836499501400601
Abstract
This article presents a method for real-time control of vehicle trajectory on a highway based on an on-board vision system using a single camera. The system has been designed to avoid damage (e.g., due to a sleepy driver). The method is based on the real-time extraction of the lateral vehicle location, which is used to determine the vehicle trajectory. Furthermore, the system is able to correct possible bad road tracking in order to have a complete autonomy. The whole system has been im plemented on a single TMS320C50 DSP-based card. Reliable results have been obtained on the highway over several hun dreds of kilometers at low and high speeds reaching more than 130 km/hr.Keywords
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