Abstract:

In this paper, a vision-based lane marking detection system is adopted to establish the anticipant tracking trajectory of an intelligent vehicle and to transform the kinematic model of the intelligent vehicle into a chained one. Moreover, the backstepping method is employed to design the control rule, thus overcoming not only the defect of high dimension arising from the dynamic feedback linearization controller but also the problem of high-frequency shake existing in the sliding-mode controller. Simulated results indicate that the proposed method is of good trajectory tracking control ability and global stability.

Key words: lane marking detection, intelligent vehicle, chained system, vision, backstepping method, trajectory tracking