Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks

J. M. Lubin; S. Gilbert; E. C. Huber; A. L. Kornhauser

doi:10.1109/IVS.1992.252238

Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks

J. M. Lubin, S. Gilbert, E. C. Huber, A. L. Kornhauser

Operations Research & Financial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: A driving simulator, a visual preprocessor, and a neural network. Once trained, the networks control the trajectory of the vehicle by accessing a steering decision for implementation at each timestep in response to a visual encoding of an image generated at the previous timestep. The paper presents the development of the three system modules, the creation of training sets, and computational results. Neural network performances are gauged by a number of procedures. Excellent results are achieved for straight roads and curved roads under a variety of initial conditions on the vehicle.

Original language	English (US)
Title of host publication	Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	85-91
Number of pages	7
ISBN (Electronic)	078030747X
DOIs	https://doi.org/10.1109/IVS.1992.252238
State	Published - 1992
Event	1992 Intelligent Vehicles Symposium, IVS 1992 - Detroit, United States Duration: Jun 29 1992 → Jul 1 1992

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference	1992 Intelligent Vehicles Symposium, IVS 1992
Country/Territory	United States
City	Detroit
Period	6/29/92 → 7/1/92

All Science Journal Classification (ASJC) codes

Computer Science Applications
Automotive Engineering
Modeling and Simulation

Access to Document

10.1109/IVS.1992.252238

Cite this

Lubin, J. M., Gilbert, S., Huber, E. C., & Kornhauser, A. L. (1992). Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks. In Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992 (pp. 85-91). [252238] (IEEE Intelligent Vehicles Symposium, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.1992.252238

@inproceedings{7361e873327444798d29497a3dc54fef,

title = "Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks",

abstract = "Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: A driving simulator, a visual preprocessor, and a neural network. Once trained, the networks control the trajectory of the vehicle by accessing a steering decision for implementation at each timestep in response to a visual encoding of an image generated at the previous timestep. The paper presents the development of the three system modules, the creation of training sets, and computational results. Neural network performances are gauged by a number of procedures. Excellent results are achieved for straight roads and curved roads under a variety of initial conditions on the vehicle.",

author = "Lubin, {J. M.} and S. Gilbert and Huber, {E. C.} and Kornhauser, {A. L.}",

note = "Funding Information: Sponsored by the James S. McDonnell Foundation. Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 Intelligent Vehicles Symposium, IVS 1992 ; Conference date: 29-06-1992 Through 01-07-1992",

year = "1992",

doi = "10.1109/IVS.1992.252238",

language = "English (US)",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "85--91",

booktitle = "Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992",

address = "United States",

}

Lubin, JM, Gilbert, S, Huber, EC & Kornhauser, AL 1992, Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks. in Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992., 252238, IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 85-91, 1992 Intelligent Vehicles Symposium, IVS 1992, Detroit, United States, 6/29/92. https://doi.org/10.1109/IVS.1992.252238

Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks. / Lubin, J. M.; Gilbert, S.; Huber, E. C. et al.

Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992. Institute of Electrical and Electronics Engineers Inc., 1992. p. 85-91 252238 (IEEE Intelligent Vehicles Symposium, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks

AU - Lubin, J. M.

AU - Gilbert, S.

AU - Huber, E. C.

AU - Kornhauser, A. L.

PY - 1992

Y1 - 1992

N2 - Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: A driving simulator, a visual preprocessor, and a neural network. Once trained, the networks control the trajectory of the vehicle by accessing a steering decision for implementation at each timestep in response to a visual encoding of an image generated at the previous timestep. The paper presents the development of the three system modules, the creation of training sets, and computational results. Neural network performances are gauged by a number of procedures. Excellent results are achieved for straight roads and curved roads under a variety of initial conditions on the vehicle.

AB - Lateral control of a simulated vehicle in a simulated highway driving environment is explored. Three modules are used: A driving simulator, a visual preprocessor, and a neural network. Once trained, the networks control the trajectory of the vehicle by accessing a steering decision for implementation at each timestep in response to a visual encoding of an image generated at the previous timestep. The paper presents the development of the three system modules, the creation of training sets, and computational results. Neural network performances are gauged by a number of procedures. Excellent results are achieved for straight roads and curved roads under a variety of initial conditions on the vehicle.

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M3 - Conference contribution

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T3 - IEEE Intelligent Vehicles Symposium, Proceedings

SP - 85

EP - 91

BT - Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1992 Intelligent Vehicles Symposium, IVS 1992

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Lubin JM, Gilbert S, Huber EC, Kornhauser AL. Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks. In Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 85-91. 252238. (IEEE Intelligent Vehicles Symposium, Proceedings). doi: 10.1109/IVS.1992.252238

Lateral control of an autonomous road vehicle in a simulated highway environment using adaptive resonance neural networks

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