Control system for an autonomous driving vehicle
Akira Hattori, K. Kurami, K. Yamada, K. Ooba, S. Ueki, E. Nakano · International Journal of Heavy Vehicle Systems · 1993
An autonomous driving system, called the Personal Vehicle System (PVS), has been developed which is capable of travelling to an intended destination by detecting white lane markers on the road surface and sensing and avoiding obstacles in its path. The vehicle operates smoothly and stably at a maximum speed of 60 km/h on straightaways and at 10 km/h on curves. Video cameras used to detect the lane markers automatically switch so as to keep the white lines in monitored view at all times. This paper describes the control system of the PVS, including the operating strategy, and the steering and speed control procedures which made the above mentioned performance possible in the first phase of the development work carried out from April 1987 to March 1990.