An image processing architecture and a motion control method for an autonomous vehicle
K. Hashimoto, Shunichi Nakayama, Takuya Saito, S. Ishida, K. Unuora, Junko Ishii, N. Oono, Y. Okada · 2003
Describes the vision based road boundary extraction method and the trajectory control method. The authors have developed a real-time Hough transform module using the original algorithm. They improved the quadratic prediction model to the two-state prediction model for the trajectory control. They assumed that the road considered for this type of car would be highways defined by the Road Structure Standard in Japan.>