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Advanced Vehicle Control System (AVCS) includes both the lateral and longitudinal control of the vehicle. Tracking of lane using the physical model of the vehicle and suitable control system for the vehicle is proposed in this work. 1-D line scanning camera is used as vision system to track the black line from the white background. Lane detection algorithm uses 1-D line scanning camera values to precisely identify the position of the vehicle in the track independent of light intensity variations. The vehicle takes advantage of the adaptive nature of the Kalman filter for line tracking and effective control of the PID control algorithm for precise control over the lateral steer. Active speed control algorithm makes the vehicle to track the path smoothly with optimum speed.
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