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Regelung der Querbewegung eines kamerageführten Straßenfahrzeugs

Control of the lateral motion of a vision guided vehicle
: Lohmann, B.; Struck, G.; Trächtler, A.

Automatisierungstechnik : AT 40 (1992), Nr.10, S.391-396 : Abb.,Lit.
ISSN: 0178-2312
ISSN: 0340-434X
Fraunhofer IITB ( IOSB) ()
autonomes Straßenfahrzeug; autonomous road vehicle; dynamic model; dynamisches Fahrzeugmodell; Fahrzeugquerregelung; lateral control

Within a research framework to increase vehicle intelligence investigations are performed at the Fraunhofer Institut IITB, Karlsruhe, to guide a motor-vehicle autonomously on a road. An experimental vehicle is equipped with a video camera to detect the lane boundaries. This paper deals with the lateral control part of vehicle guidance; it suggests how to turn the steering wheel according to the actual vehicle's pose on the road as supplied by the machine vision system. Supplementary a concept is proposed to manoeuvre the vehicle in situations where current information of the road boundaries are not available due to the limited size of view of the single camera fixed within the vehicle. This may be necessary in situations like turning off at intersections or circumventing obstacles.