TY - JOUR
T1 - Design of Autonomous and Manual Driving System for 4WIS4WID Vehicle
AU - Li, Tzuu Hseng S.
AU - Lee, Ming Han
AU - Lin, Chia Wei
AU - Liou, Guan Hong
AU - Chen, Wei Chung
N1 - Funding Information:
This work was supported in part by the Ministry of Education, Taiwan, within the National Cheng Kung University, Tainan, Taiwan, through the Aim for the Top University Project and in part by the Ministry of Science and Technology, Taiwan, under Grant MOST 103-2221-E-006-252 and Grant MOST 104-2221-E-006-228-MY2.
Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - In this paper, we propose a driving system consisting of an autonomous and manual system for a four-wheel independent steering and four-wheel independent driving (4WIS4WID) vehicle. The autonomous driving system consists of three applications, lane following, reverse parking, and parallel parking, and is based on machine vision and fuzzy control theory. The vehicle implements these functions by using four webcams to detect lines on the ground and by using related control technologies to command all the server motors. The webcams are installed on all sides of the 4WIS4WID vehicle for all around viewing, but the vehicle still has many blind spots and the view is not wide enough. In additon, a parking space cannot be viewed completely in one image. Therefore, the integrating judgements of vision with the fuzzy control methods is necessary to make sure that the 4WIS4WID vehicle can perform the correct motions. By using the proposed fuzzy rules, the 4WIS4WID vehicle can change its velocity in a timely way under any condition and can successfully move in a narrow and curved lane. Moreover, the manual driving system is designed based on the traditional driving system, so that people can easily adapt to it. In order to verify the feasibility of these applications for the 4WIS4WID vehicle, an indoor real-time experiment is conducted.
AB - In this paper, we propose a driving system consisting of an autonomous and manual system for a four-wheel independent steering and four-wheel independent driving (4WIS4WID) vehicle. The autonomous driving system consists of three applications, lane following, reverse parking, and parallel parking, and is based on machine vision and fuzzy control theory. The vehicle implements these functions by using four webcams to detect lines on the ground and by using related control technologies to command all the server motors. The webcams are installed on all sides of the 4WIS4WID vehicle for all around viewing, but the vehicle still has many blind spots and the view is not wide enough. In additon, a parking space cannot be viewed completely in one image. Therefore, the integrating judgements of vision with the fuzzy control methods is necessary to make sure that the 4WIS4WID vehicle can perform the correct motions. By using the proposed fuzzy rules, the 4WIS4WID vehicle can change its velocity in a timely way under any condition and can successfully move in a narrow and curved lane. Moreover, the manual driving system is designed based on the traditional driving system, so that people can easily adapt to it. In order to verify the feasibility of these applications for the 4WIS4WID vehicle, an indoor real-time experiment is conducted.
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U2 - 10.1109/ACCESS.2016.2548081
DO - 10.1109/ACCESS.2016.2548081
M3 - Article
AN - SCOPUS:84979798648
SN - 2169-3536
VL - 4
SP - 2256
EP - 2271
JO - IEEE Access
JF - IEEE Access
M1 - 7442768
ER -