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Proceedings Paper

LaneTrak: a vision-based automatic vehicle steering system
Author(s): Osman D. Altan; Douglas Craig; Bakhtiar B. Litkouhi; Larry M. Oberdier
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Paper Abstract

Computer vision technology that automatically steers a passenger vehicle to keep it in its lane on a limited-access freeway is described. This system, LaneTrak, uses a forward looking monochrome CCD camera and a real-time image processing system on-board the vehicle. The image processing system identifies the lane boundaries based on lane markers and road edges. A pair of Kalman filters uses this information combined with vehicle dynamics sensor data to determine the vehicle angular heading error, lateral offset from the center of the road, and the lane curvature ahead. A preview proportional-integral control system determines the desired steering angle to keep the vehicle in the lane. The steering angle is then passed to another controller which activates an electric steering mechanism that positions the front wheels of the vehicle. We verified the full operation of LaneTrak with computer simulation before the system was designed and used a driving simulator to evaluate drivers' reaction to system failure. LaneTrak has been successfully demonstrated on a test track and on an unopened section of a limited-access freeway at highway speeds.

Paper Details

Date Published: 4 May 1993
PDF: 11 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143815
Show Author Affiliations
Osman D. Altan, General Motors Research and Environmental Staff (United States)
Douglas Craig, General Motors Research and Environmental Staff (United States)
Bakhtiar B. Litkouhi, General Motors Research and Environmental Staff (United States)
Larry M. Oberdier, General Motors Research and Environmental Staff (United States)

Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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