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Proceedings Paper

Vehicle lateral control system using laser radar
Author(s): Masahiko Nakamura; Alan Y. Arai; Mark P. Bendett; Mitsutaka Nakamura; Roy W. Goudy; Yoshinobu Suzuki; Hideki Kusunoki
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Paper Abstract

This paper introduces our recent research on vehicle lateral control, a component of an automated highway system (AHS). We have developed a laser radar based automatic steering control system to study the performance and feasibility of such a system in an actual highway environment. Our approach does not require significant infrastructure investment because it is based on the retroreflective road markers currently installed on many roads. The system consists of a laser radar sensor, steering actuator, steering controller, and data processing system. The newly developed laser radar system measures not only the range to a target, but also the azimuth angle of the target in the sensor field of view. The azimuth angle measurement, which is essential for the lateral control system, has been implemented without any moving parts in the sensor system. A line scan CCD is used as the azimuth detector while an APD is used for the range measurement. The vehicle control algorithm was studied using computer simulation and a full-scale test vehicle was developed. Some previous related projects are reviewed and our unique sensor concept is described. The total system performance was demonstrated and evaluated on a California highway. Several issues remaining for further improvement of the system are also discussed.

Paper Details

Date Published: 6 January 1995
PDF: 11 pages
Proc. SPIE 2344, Intelligent Vehicle Highway Systems, (6 January 1995); doi: 10.1117/12.198932
Show Author Affiliations
Masahiko Nakamura, IMRA America, Inc. (United States)
Alan Y. Arai, IMRA America, Inc. (United States)
Mark P. Bendett, IMRA America, Inc. (United States)
Mitsutaka Nakamura, Aisin Seiki Co., Ltd. (Japan)
Roy W. Goudy, Aisin Seiki Co., Ltd. (Japan)
Yoshinobu Suzuki, Aisin Seiki Co., Ltd. (Japan)
Hideki Kusunoki, Toyota Motor Corp. (Japan)

Published in SPIE Proceedings Vol. 2344:
Intelligent Vehicle Highway Systems
Richard J. Becherer, Editor(s)

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