摘要: Nearly 15,000 people die each year in the US single vehicle roadway departure crashes. These accidents are often caused by driver inattention, or impairment (e.g. fatigued intoxicated drivers). A system capable of warning when starts to depart roadway, controlling lateral position keep it its lane, could potentially eliminate many these This paper presents a called RALPH (Rapidly Adapting Lateral Position Handler) which decomposes problem steering into three steps, 1) sampling image, 2) determining road curvature, and 3) offset relative lane center. The output later two steps combined command, can be compared with human driver's current direction as part system, sent directly motor.
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