Title: Control system for an autonomous driving vehicle

Authors: A. Hattori, K. Kurami, K. Yamada, K. Ooba, S. Ueki, E. Nakano

Addresses: Nissan Motor Company Ltd., Japan. ' Nissan Motor Company Ltd., Japan. ' Nissan Motor Company Ltd., Japan. ' Nissan Motor Company Ltd., Japan. ' Nissan Motor Company Ltd., Japan. ' Faculty of Engineering, Tohoku University, Aoba, Aramaki-aza, Serdai, Miyagi 980, Japan

Abstract: 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.

Keywords: automated driving; autonomous vehicles; control systems; personal vehicle system; PVS; obstacle avoidance; vehicle control.

DOI: 10.1504/IJHVS.1993.054647

International Journal of Heavy Vehicle Systems, 1993 Vol.1 No.1, pp.99 - 113

Published online: 18 Jun 2013 *

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