CONTROLE LATERAL AUTOMATIQUE D'UN VEHICULE A L'AIDE D'UNE CAMERA : ETAT DE L'ART DANS LE CAS DU SUIVI DE ROUTE [VEHICLE LATERAL CONTROL WITH THE AID OF COMPUTER VISION : STATE OF THE ART IN THE MATTER OF ROAD FOLLOWING

This paper presents a state of the art account of automatic lateral control by using computer vision to follow a road. The paper first discusses the functions of location, navigation, vehicle positioning guidance and control. The location module determines the position of the vehicle. A guidance module is used to generate the trajectory for the vehicle to follow according to navigation and positioning data. The control module checks for the accuracy of the trajectory. The functionalities of positioning, guidance, and command are described through a survey of existing systems and current research in the areas of perception and automatic control. The paper concludes by identifying the remaining problems and describing the alternative solutions which are being developed worldwide. IN FRENCH WITH SUMMARY IN ENGLISH