| Title | Implementation of a system for controlling the lateral position of a moving vehicle : and field testing of ODOT sensor-assisted steering system |
|---|---|
| Record ID | 19946 |
| Personal Name Creator |
Pugh, D. R.; Nivens, J. V. |
| Source | 40p. in various pagings |
| Corporate Creator | Ohio. Dept. of Transportation; AMT Systems Engineering, Inc.; United States. Federal Highway Administration |
| Publisher | Ohio. Dept. of Transportation |
| Publication Date | 20020700 |
| Language | English |
| Abstract | The overall objective was to design, implement, and test sensor-assisted driver control of an ODOT dump truck. Requirements included repeatably steering a loaded or unloaded truck over embedded sensors to a lateral accuracy of +/- one inch, time-sharing the truck with normal uses, and providing for safe operation. The design and implementation of the Sensor-Assisted Steering System ddescribed in this report has verified that the suite of sensors, actuators, and computation resources can be packaged in and powered from a standard ODOT dump truck at a reasonable component cost. The required lateral positioning accuracy of +/- one inch was achieved via servomotor control of the steering column of a conventional dump truck. The "dead-reckoning" portion of the vehicle lateral position observer, based on an angular rate sensor and a vehicle velocity sensor, worked very well. The human-in-the-loop, video-based lateral positioning system performed well under the conditions for which it was design. However, the assumption of a perfectly straight edge line was not realized, and may not be practical. Indeed, some portions of the test highway are not straight, but have gentle curves. Overall, the video-based edge-line tracking system, designed to correct longer-term drift of the "dead-reckoning" subsystem, was found to be insufficiently robust. To further pursue this type of automatic steering, it is recommended that an active position-sensing technology be employed that does not rely on natural ambient lighting. |
| Rosap ID | dot:2121 |
| Rosap URL | https://rosap.ntl.bts.gov/view/dot/2121 |
| TRT Terms | Truck driving; Automatic steering control; Image processing; Intelligent transportation systems; Intelligent control systems |
| General Subjects | Actuators; Control equipment; Control systems; Design; Dump trucks; Image processing; Implementation; Lateral positioning system; Requirements; Sensor-Assisted Steering System; Sensors; Steering system design; Steering systems; Testing |
| Classification | NTL - INTELLIGENT TRANSPORTATION SYSTEMS - Driver Assistance Systems (Vehicles); NTL - INTELLIGENT TRANSPORTATION SYSTEMS - INTELLIGENT TRANSPORTATION SYSTEMS |
| Geographical Coverage |
United States |
| OCLC | 51160141 |
| TRIS Online Accession No |
1024454 |
| Contract Number | 14598(0); 14640(0) |
| Report Number | FHWA/OH-2002/028 |
| Availability | Intelligent Transportation Systems Joint Program Office |
| Resource type | Tech Report |
| URL | https://ntlrepository.blob.core.windows.net/lib/19000/19900/19946/PB2003101555.pdf |
| Format | |
| Database | NTL Digital Repository |