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A lateral position sensing system for automated vehicle following

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3 Author(s)
Alleyne, A. ; Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA ; Williams, B. ; DePoorter, M.

This paper investigates the use of photoresistive light sensor arrays as a possible lateral position sensing system for a vehicle, or several vehicles, following a lead vehicle under separate control. A brief motivation for the use of such a sensing array is followed by a derivation of an appropriate sensor layout. It is shown that the sensing array has several benefits, including cost, simplicity, redundancy, and near linearity. Experimental results are given for a scaled vehicle following manoeuvre using a simple lateral control strategy. The results show that the sensor array may be attractive for lateral alignment in vehicle-following manoeuvres

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:3 ,  Issue: 3 )

Date of Publication:

Sep 1998

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