A color vision-based lane tracking system for autonomous driving on unmarked roads
A color vision-based lane tracking system for autonomous driving on unmarked roads
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DOI：
10.1023/b:auro.0000008673.96984.28
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发表时间：
2004-01-01
影响因子：
3.5
通讯作者：
Boquete, L
中科院分区：
文献类型：
--
作者：
Sotelo, MA;Rodriguez, FJ;Boquete, L
这项工作描述了一个彩色的基于视觉的系统，旨在执行稳定的自动驾驶在无标记的道路。因此，这意味着开发确保车辆稳定性的精确路面检测系统。虽然不同的研究小组已经在技术文献中记录了这一主题，但绝大多数现有的智能交通系统都致力于在标记的额外城市道路和高速公路上辅助驾驶车辆。完整的系统在BABIECA原型车上进行了测试，该原型车在模拟城市街区的私人电路上自动驾驶数百公里，完成不同的导航任务。在测试过程中，导航系统展示了其对阴影、道路纹理、天气和不断变化的照明条件的鲁棒性。
This work describes a color Vision-based System intended to perform stable autonomous driving on unmarked roads. Accordingly, this implies the development of an accurate road surface detection system that ensures vehicle stability. Although this topic has already been documented in the technical literature by different research groups, the vast majority of the already existing Intelligent Transportation Systems are devoted to assisted driving of vehicles on marked extra urban roads and highways. The complete system was tested on the BABIECA prototype vehicle, which was autonomously driven for hundred of kilometers accomplishing different navigation missions on a private circuit that emulates an urban quarter. During the tests, the navigation system demonstrated its robustness with regard to shadows, road texture, and weather and changing illumination conditions.