Abstract
In this chapter, we introduce the lane following system. First, we review the related work about the vehicle lateral motion control. Then, to achieve the smooth steering system, we use different control strategies to control a steering system for linear and curvilinear roads. In the mixed lateral control strategy, we calculate looking-ahead distance and error to steer on the linear roads. And we propose a segmenting approach of contours based on the sum of ideal contours to segment a contour only consisting of lines and arcs, and utilize Gaussian filters to remove the effect of random noise from the sampling data in the curvilinear roads. To obtain the relation between motor pulses and the front wheel lean angle, we give pulse commands to servomotor and measure the angle between the frontal wheel and the central line of the vehicle.
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© 2011 Springer-Verlag London Limited
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Cheng, H. (2011). The Lateral Motion Control for Intelligent Vehicles. In: Autonomous Intelligent Vehicles. Advances in Computer Vision and Pattern Recognition. Springer, London. https://doi.org/10.1007/978-1-4471-2280-7_9
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DOI: https://doi.org/10.1007/978-1-4471-2280-7_9
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