A study of lane tracking control for an autonomous vehicle

• Main Authors: Chiang, Yun-An, 江昀安
• Other Authors: Chen, Li-Wen
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/8puyh3

碩士 === 國立屏東科技大學 === 車輛工程系所 === 106 === The contents of abstract in this thesis: This thesis presents a lane tracking system for an autonomous vehicle. This vehicle equips a video camera, a notebook computer running Opencv and a micro-control unit. This research employs a self-made electrical vehicle as a test platform. The video camera is used to video and identify the traffic lines between lanes. The notebook computer analyzes relative position between the vehicle front and the desired tracking path which is at the middle of the lane. To decrease the deviation between the desired and the actual driving path, the PD control algorithms is applied. The desired command coming from the controller is sent to an electrical power steering system to adjust the driving direction of the vehicle such that the platform can keep running at the middle of the lane. Experimental results show that, if there is no obstacles on the driving path, the PD controller can do lane tracking well for an autonomous vehicle. Keyword: lane tracking、image processing、autonomous vehicle