Development Of Binocular Stereopsis For Vehicle Lateral Control, Longitudinal Control And Obstacle Detection

This report describes progress in the application of computer vision techniques to the lateral and longitudinal control of an autonomous highway vehicle. A vehicle's lateral dynamics and the design of an appropriate controller for lateral control are investigated. Stereo vision, in conjunction with a scanning laser radar sensor, are studied for providing range information applicable to the longitudinal control problem. The results from the experimental demonstration of this system are reported as part of the National Automated Highway Systems Consortium (NAHSC) Demonstration that took place in San Diego in August 1997.