Next Article in Journal
Measurement of 3-D Vibrational Motion by Dynamic Photogrammetry Using Least-Square Image Matching for Sub-Pixel Targeting to Improve Accuracy
Next Article in Special Issue
Vehicle Detection Based on Probability Hypothesis Density Filter
Previous Article in Journal
Sinabro: A Smartphone-Integrated Opportunistic Electrocardiogram Monitoring System
Previous Article in Special Issue
Prediction of Military Vehicle’s Drawbar Pull Based on an Improved Relevance Vector Machine and Real Vehicle Tests
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(3), 362; doi:10.3390/s16030362

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

1
Centre for Automation and Robotics (CAR), Universidad Politécnica de Madrid (UPM-CSIC), Calle de José Gutiérrez Abascal 2, 28006 Madrid, Spain
2
Interdisciplinary Centre for Security, Reliability and Trust, SnT - University of Luxembourg, Weicker 1711, Luxembourg
3
University Institute for Automobile Research (INSIA), Technical University of Madrid, INSIA, Campus Sur UPM, Carretera de Valencia km 7, 28031 Madrid, Spain
*
Author to whom correspondence should be addressed.
Academic Editor: Thomas Moeslund
Received: 13 November 2015 / Revised: 17 February 2016 / Accepted: 25 February 2016 / Published: 11 March 2016
(This article belongs to the Special Issue Sensors for Autonomous Road Vehicles)

Abstract

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption. View Full-Text
Keywords: road vehicles; vision sensor; automatic steering control; speed assistance; computer vision; vision-based control; positioning; driver assistance vision-based system; partial automation road vehicles; vision sensor; automatic steering control; speed assistance; computer vision; vision-based control; positioning; driver assistance vision-based system; partial automation
Figures

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Olivares-Mendez, M.A.; Sanchez-Lopez, J.L.; Jimenez, F.; Campoy, P.; Sajadi-Alamdari, S.A.; Voos, H. Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles. Sensors 2016, 16, 362.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top