Implementation of a system for controlling the lateral position of a moving vehicle : and field testing of ODOT sensor-assisted steering system

Pugh, D. R.; Nivens, J. V.; Ohio. Dept. of Transportation; AMT Systems Engineering, Inc.; United States. Federal Highway Administration

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ROSA P serves as an archival repository of USDOT-published products including scientific findings, journal articles, guidelines, recommendations, or other information authored or co-authored by USDOT or funded partners. As a repository, ROSA P retains documents in their original published format to ensure public access to scientific information.

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Implementation of a system for controlling the lateral position of a moving vehicle : and field testing of ODOT sensor-assisted steering system

2002-07-01
By Pugh, D. R. ; Nivens, J. V.

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English

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Creators:

Pugh, D. R. ; Nivens, J. V.

Pugh, D. R. ; Nivens, J. V. Less -
Corporate Creators:

Ohio. Dept. of Transportation ; AMT Systems Engineering, Inc. ; United States. Federal Highway Administration

Ohio. Dept. of Transportation ; AMT Systems Engineering, Inc. ; United States. Federal Highway Administration Less -
Subject/TRT Terms:

[+]

Actuators Automatic Steering Control Control Equipment Control Systems Design Dump Trucks Image Processing Implementation Intelligent Control Systems Intelligent Transportation Systems Lateral Positioning System Requirements Sensor-Assisted Steering System Sensors Steering System Design Steering Systems Testing Truck Driving
Publication/ Report Number:

FHWA/OH-2002/028
Resource Type:

Tech Report
Corporate Publisher:

Ohio. Dept. of Transportation
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.
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PDF
Funding:

14598(0) ; 14640(0)

14598(0) ; 14640(0) Less -
Collection(s):

ITSJPO Digital Library
Main Document Checksum:

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urn:sha256:e29901918f14f2b5bc10e3c609898a22b34f82f89c208611a4dc19c0e5a37517
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https://rosap.ntl.bts.gov/view/dot/2121/dot_2121_DS1.pdf
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Implementation of a system for controlling the lateral position of a moving vehicle : and field testing of ODOT sensor-assisted steering system

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