Issue No.02 - April (1996 vol.11)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/64.491277
Ralph (Rapidly Adapting Lateral Position Handler) is a vision system developed jointly by Carnegie Mellon University and AssistWare Technology Inc. Ralph decomposes vehicle steering into three steps: sampling the image, determining the road curvature, and assessing the lateral offset of the vehicle relative to the lane center. Ralph combines the outputs of the latter two steps into a steering command, which it can send to the steering motor on the Navlab 5 testbed vehicle for autonomous steering control. As a road-departure warning system, Ralph can also compare this command with the human driver's steering direction.
Dean Pomerleau, Todd Jochem, "Rapidly Adapting Machine Vision for Automated Vehicle Steering", IEEE Intelligent Systems, vol.11, no. 2, pp. 19-27, April 1996, doi:10.1109/64.491277