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International Journal of Automotive Technology 2004;5(2): 95-108. |
| EXPERIMENTAL VALIDATION OF THE POTENTIAL FIELD LANEKEEPING SYSTEM |
| J. P. SWITKES, E. J. ROSSETTER, J. C. GERDES |
| Stanford University |
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| ABSTRACT |
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Lanekeeping assistance has the potential to save thousands of lives every year by preventing accidental road departure. This paper presents experimental validation of a potential field lanekeeping assistance system with quantitative performance guarantees. The lanekeeping system is implemented on a 1997 Corvette modified for steer-by-wire capability. With no mechanical connection between the hand wheel and road wheels the lanekeeping system can add steering inputs independently from the driver. Implementation of the lanekeeping system uses a novel combination of a multi-antenna Global Positioning System (GPS) and precision road maps. Preliminary experimental data shows that this control scheme performs extremely well for driver assistance and closely matches simulation results, verifying previous theoretical guarantees for safety. These results also motivate future work which will focus on interaction with the driver. |
| Key Words:
Lanekeeping, Driver assistance, GPS/INS, Potential field, Vehicle dynamics, DGPS, Road mapping |
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