title: Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles.
abstract: Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.
authors.affiliation: Centre for Automation and Robotics (CAR), Universidad Politécnica de Madrid (UPM-CSIC), Calle de José Gutiérrez Abascal 2, 28006 Madrid, Spain. miguel.olivaresmendez@uni.lu.|Interdisciplinary Centre for Security, Reliability and Trust, SnT - University of Luxembourg, Weicker 1711, Luxembourg. miguel.olivaresmendez@uni.lu.
authors.forename: Miguel Angel
authors.initials: MA
authors.lastname: Olivares-Mendez
authors.affiliation: Centre for Automation and Robotics (CAR), Universidad Politécnica de Madrid (UPM-CSIC), Calle de José Gutiérrez Abascal 2, 28006 Madrid, Spain. jl.sanchez@upm.es.
authors.forename: Jose Luis
authors.initials: JL
authors.lastname: Sanchez-Lopez
authors.affiliation: University Institute for Automobile Research (INSIA), Technical University of Madrid, INSIA, Campus Sur UPM, Carretera de Valencia km 7, 28031 Madrid, Spain. felipe.jimenez@upm.es.
authors.forename: Felipe
authors.initials: F
authors.lastname: Jimenez
authors.affiliation: Centre for Automation and Robotics (CAR), Universidad Politécnica de Madrid (UPM-CSIC), Calle de José Gutiérrez Abascal 2, 28006 Madrid, Spain. pascual.campoy@upm.es.
authors.forename: Pascual
authors.initials: P
authors.lastname: Campoy
authors.affiliation: Interdisciplinary Centre for Security, Reliability and Trust, SnT - University of Luxembourg, Weicker 1711, Luxembourg. amin.sajadi@uni.lu.
authors.forename: Seyed Amin
authors.initials: SA
authors.lastname: Sajadi-Alamdari
authors.affiliation: Interdisciplinary Centre for Security, Reliability and Trust, SnT - University of Luxembourg, Weicker 1711, Luxembourg. holger.voos@uni.lu.
authors.forename: Holger
authors.initials: H
authors.lastname: Voos
keywords: automatic steering control; computer vision; driver assistance vision-based system; partial automation; positioning; road vehicles; speed assistance; vision sensor; vision-based control