ANALYSES OF VISION-BASED LATERAL CONTROL FOR AUTOMATED HIGHWAY SYSTEM

The stability and performance of a vision-based vehicle lateral contro l system are analyzed. Effects of look-ahead distance, vision delay, a nd vehicle speed on the performance of vision feedback control system are examined by using frequency domain and time domain methods. A meas urement model of the vision system is derived from the point of view o f multiple sensors. The quantization error of the vision system is ana lyzed and the way of extracting essential information for control is s tudied. Based on this analysis, some guidelines for the design of visi on-based controllers are proposed. A design example is further illustr ated for a vision system with a substantial time delay.