Motor vehicles – With means for controlling operation responsive to... – Having controlling means adapted to interact with stationary...
Patent
1996-11-07
1999-11-09
Oberleitner, Robert J.
Motor vehicles
With means for controlling operation responsive to...
Having controlling means adapted to interact with stationary...
B60T 716
Patent
active
059795816
ABSTRACT:
An apparatus for automated vehicle lane-keeping in which a laser sensor is used to detect three points on a retroreflective paint stripe, and the three points are used to estimate the position of the lane centerline relative to the vehicle, as well as the geometry of the roadway. The position of the lane centerline and the curvature of the roadway are then used to determine a lateral error signal for feedback control, and the roadway curvature for feedforward control, both of which are combined to produce a steering control signal for the vehicle.
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Lasky Ty A.
Ravani Bahram
Bartz C. T.
O'Banion John P.
Oberleitner Robert J.
The Regents of the University of California
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