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ABSTRACT
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.
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CITATION
Dean Pomerleau, Todd Jochem, "Rapidly Adapting Machine Vision for Automated Vehicle Steering", IEEE Intelligent Systems, vol. 11, no. , pp. 19-27, April 1996, doi:10.1109/64.491277
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