A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving

This paper will present the results of a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understanding of the characteristics of various control laws that could be applied to this problem with a view to making informed design decisions. The control strategies that we explored include a lead lag control law, a full-state linear controller and input-output linearizing control law. Each of these control strategies was implemented and tested on our experimental vehicle, a Honda Accord LX, both with and without a curvature feedforward component.

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