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Method and apparatus for controlling a vehicle and accounting for side-slip angle
Abstract
Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle in its running direction by an image pick-up device fixed to the vehicle; determining, by processing the taken image, a permissible travel path in a X-Y coordinates having the Y-Axis corresponding to the axis of the vehicle's running direction; setting a target course in the determined permissible travel path; estimating a steering amount necessary for permitting the vehicle to follow the target course on the basis of the detected running condition of the vehicle; and steering the vehicle to follow the target course with reference to the steering amount; and also is capable of determining a side-slip angle of the vehicle and turning any one of patterns--image, permissible travel path and the target course--by the determined side-slip angle to coincide the actual running direction of the vehicle with the direction of the Y-axis.

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  • References (8)
  • Cited By (84)
Bir Bhanu46
Estimated H-index: 46
(Honeywell),
Wilhelm Burger1
Estimated H-index: 1
Determining the self-motion in space of an imaging device (e.g., a television camera) by analyzing image sequences obtained through the device. Three-dimensional self-motion is expressed as a combination of rotations about the horizontal and vertical camera axes and the direction of camera translation. The invention computes the rotational and translational components of the camera self-motion exclusively from visual information. Robust performance is achieved by determining the direction of hea...
56 Citations Source
Kunihiko Kurami1
Estimated H-index: 1
A method and an apparatus for automatic steering control of an automobile, which can be carried out efficiently by using only one regression equation for calculating a steering angle. In the apparatus, a white line drawn on a road is detected by camera; a distance of the detected white line with respect to a view axis of the camera is determined; the determined distance is transformed into a corresponding distance of the white line with respect to a prescribed point on a central axis of the auto...
38 Citations Source
Nobuyoshi Asanuma22
Estimated H-index: 22
(Honda),
Shinnosuke Ishida16
Estimated H-index: 16
(Honda),
Hiroshi Hasegawa10
Estimated H-index: 10
(Honda)
An automatic travelling apparatus which is capable of finding out a permissible travelling area from images taken by an image pick-up device to set a target course in the permissible travelling area; determining a steering amount appropriate for the purpose of permitting the vehicle to put itself on the target course, in consideration of the instantaneous travelling condition of the vehicle; and performing the exact steering control in terms of the steering amount. The exact travelling attained ...
40 Citations Source
Akira Hattori1
Estimated H-index: 1
An autonomously running vehicle and method for autonomously running the vehicle on a route of travel are disclosed in which using a plurality of control rules defining predetermined steering controlled variables according to magnitude classifications of previously classified deviations on steering operations and membership functions indicating certainties corresponding to respective classifications of actual deviations (offset), the certainties corresponding to each magnitude classification are ...
45 Citations Source
Akira Hattori1
Estimated H-index: 1
An autonomous vehicle controls the steering of the vehicle on a road by fuzzy control. A camera forms an image of the road, and an image processor processes the image to calculate the deviation dx between a plurality of reference points on a road and the direction in which the vehicle is traveling. Each reference point is associated with a visual point on the road ahead of the vehicle. The product of the deviation dx for each visual point and a membership function μ indicating the degree of impo...
33 Citations Source
1986 in Optical Engineering [IF: 0.99]
L S Davis1
Estimated H-index: 1
(University of Maryland, College Park),
T Kushner1
Estimated H-index: 1
(University of Maryland, College Park)
The Computer Vision Laboratory at the University of Maryland for the past year has been developing a computer vision system for autonomous ground navigation of roads and road networks for the Defense Advanced Research Projects Agency's Strategic Computing Program. The complete system runs on a VAX 11/785, but certain parts of it have been reimplemented on a VICOM image processing system for experimentation on an autonomous vehicle built for the Martin Marietta Corp., Aerospace Division, in Denve...
38 Citations Source Cite
Asanuma Shinkichi1
Estimated H-index: 1
,
Ishida Shinnosuke1
Estimated H-index: 1
,
Hasegawa Hiroshi1
Estimated H-index: 1
PURPOSE: To set an optimum objective route on a travel path while a vehicle searches the travel path by itself so as to enable the vehicle to travel on the objective path by recognizing a road edge based on an image which an image- pickup device has image-picked up the area of the vehicle in the direction of travel. CONSTITUTION: A travelable area recognition part 2 image-processes the image which a video camera 1 has image-picked up and recognizes the travel available area of the vehicle in the...
13 Citations Source
  • References (8)
  • Cited By (84)
James Turk1
Estimated H-index: 1
A vision system of a vehicle includes a camera disposed at the vehicle and having a field of view exterior of the vehicle. The camera is operable to capture frames of image data. Responsive to image processing by an image processor of captured image data, a control is operable to determine objects present in the field of view of the camera. Responsive to vehicle data, the control determines a vehicle motion vector during driving of the vehicle by a driver of the vehicle. The control determines m...
11 Citations Source
Yuesheng Lu13
Estimated H-index: 13
,
Steven V. Byrne1
Estimated H-index: 1
A vision system of a vehicle includes a plurality of cameras with exterior overlapping fields of view. The vision system is operable to calibrate at least one of the cameras and includes a plurality of targets disposed at locations near the vehicle and within the fields of views of the cameras. A display device is operable to display images captured by the cameras of the vision system. A plurality of user inputs may be provided and a user may selectively actuate the user inputs to manipulate ima...
31 Citations Download PDF
Galina Okouneva1
Estimated H-index: 1
A camera calibration system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. The camera is operable to capture image data. An image processor operable to process image data captured by the camera. The camera calibration system is operable to generate camera calibration parameters utilizing a bundle adjustment algorithm. Responsive to image processing of captured image data during movement of the vehicle along an arbitrary path, and responsi...
17 Citations Source
Goerg Pflug1
Estimated H-index: 1
A vehicle vision system includes a plurality of cameras having respective fields of view exterior of the vehicle. A processor is operable to process image data captured by the cameras and to generate images of the environment surrounding the vehicle. The processor is operable to generate a three dimensional vehicle representation of the vehicle. A display screen is operable to display the generated images of the environment surrounding the vehicle and to display the generated vehicle representat...
33 Citations Source
Jang Yeol Yoon1
Estimated H-index: 1
(Hyundai Mobis),
Kwang Keun Joseph Shin1
Estimated H-index: 1
(Hyundai Mobis)
The present disclosure relates to a lane keeping assist system for controlling a vehicle on the basis of traveling information and road information of the vehicle when the vehicle begins to leave its lane in order to prevent the vehicle from deviating from its lane, which is a system for assisting the vehicle in keeping the lane by generating multiple target routes each being a path for the vehicle to travel without deviating from the lane, calculating a target yaw rate for each target route, an...
6 Citations Source
Marcel Kussel1
Estimated H-index: 1
A vision system for a vehicle includes at least one imaging sensor disposed at the vehicle and having an exterior field of view. The imaging sensor is operable to capture image data. The imaging sensor includes or is associated with an inclination sensor. At least one other inclination sensor is disposed at the vehicle. A processing system is operable to process outputs of the inclination sensors to determine an alignment or misalignment of the at least one imaging sensor at the vehicle.
8 Citations Source
Yuesheng Lu1
Estimated H-index: 1
A camera or vision system for establishing a composite image for displaying in a vehicle includes a first camera and a second camera and a controller. Each camera has a respective field of view that overlaps partially with the respective field of view of the other camera. Each camera has a respective imager for generating a respective preliminary digital image. The cameras together have a combined field of view. The controller is programmed to generate a final composite digital image that corres...
40 Citations Source
Charles H. Mullen1
Estimated H-index: 1
A driver emulative vehicle control system for use with a vehicle. The vehicle control system includes a video camera which transduces the field of view into a plurality of scan lines each comprising a plurality of pixels. A digitizer serves to digitize the frames from the video camera. A computer inputs the digitized frames and processes the same to control the steering, acceleration, deceleration, and braking of the vehicle. More particularly, the processing means includes addressing means, ste...
17 Citations Source
Steven Wahlbin12
Estimated H-index: 12
(Computer Sciences Corporation),
Tim Johnston17
Estimated H-index: 17
(Computer Sciences Corporation)
Methods and systems are provided for estimating right of way in an accident. In one embodiment, right of way estimation in a vehicle accident may be based on a plurality of characteristics that describe the accident. The characteristics from an actual accident may be compared to those in a past or theoretical accident.
43 Citations Source
Nikhil Gupta4
Estimated H-index: 4
,
Hilda Faraji4
Estimated H-index: 4
,
Daan He2
Estimated H-index: 2
... more
A method of dynamically ascertaining the alignment of a vehicular camera. The method involves acquiring a sequence of images provided by the camera whilst the vehicle is in motion. For each range of steering angles, the method (i) selects a plurality of feature points in the images, (ii) tracks a motion trajectory for each selected feature point, and (iii) determines a vanishing point in the image plane based on the tracked motion trajectories. The method determines a vanishing line in the image...
51 Citations Source

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