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The ARGO vehicle has autonomous steering capabilities: the result of the
processing (position of obstacles and geometry of the
road) is used to drive an actuator on the steering wheel.
More precisely, the output provided by the GOLD vision system, such as
the vehicle lateral offset, the vehicle yaw relative to the road
centerline and the upcoming road curvature, are combined to determine
the lane center at a given distance ahead of the vehicle.
The steering wheel is turned to head the vehicle at that lane center point
ahead of the vehicle.
In addition, the information coming from a speedometer will be
integrated to handle also changes in the vehicle speed.
For debug purposes, the result of the processing is also fed to the driver
through a set of output devices installed on-board of the vehicle.
An acoustical device warns the driver in case dangerous conditions are
detected, e. g. when the distance to the leading vehicle is under
a safety threshold or when the vehicle position within the lane
is not safe.
Moreover, a visual feedback is supplied to the driver by displaying the
results both on an on-board monitor
and on a led-based control panel:
the monitor presents the acquired left image with markers highlighting
the lane markings as well as the position of the eventual obstacles,
while the leds encode the offset of the vehicle with respect to the road
center line.
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