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Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach
Name
ICARCV_P1_2018_DAMON.pdf
Description
Accepted version
Size
1.7 MB
Format
Adobe PDF
Checksum (MD5)
842042e54e3e36acd2a8f919ecc249ab
Author(s)
Damon, Pierre-Marie
Hadj-Abdelkader, Hicham
Arioui, Hichem
Youcef-Toumi, Kamal
Date Issued
November 2018
Journal
2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Publisher
IEEE
Citation
Damon, Pierre-Marie, Hadj-Abdelkader, Hicham, Arioui, Hichem and Youcef-Toumi, Kamal. 2018. "Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach." 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018.
Version
Author's final manuscript
Abstract
© 2018 IEEE. This paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turns. The proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. The inverse perspective mapping technique is used to reconstruct a bird-eye-view of the road image. Then, filters are applied to keep only the road markers which are, afterwards, approximated with the well-known clothoid model. This allows the prediction of the road geometry such as the curvature ahead of the motorcycle. Finally, from the predicted road curvature, the measurements of the Euler angles and the vehicle speed, the proposed algorithm is able to characterize the steering behavior. To that end, we propose to estimate the steering ratio and we introduce new pertinent indicators such as the vehicle relative position dynamics to the road. The method is validated using the advanced simulator BikeSim during a steady turn.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/icarcv.2018.8581298
