This report summarizes the work performed during the 18-month period ending in December 1997. Researchers investigated the
use of differential global positioning systems (GPS), inertial measurement, and other sensing technologies as the basis of a system
that would prevent crashes. Such a system attempts to control the vehicle if it leaves the lane because the driver is incapacitated.
The report includes in its appendices related work on driver fatigue and a bibliography on the effect of drugs and alcohol on driving
behavior. The long-term goal of this research involves development of a "driver-centered" vehicle control system capable of
providing lane-keeping feedback to the driver, and, ifnecessary, of imposing aggressive intervention strategies to take over control
of the vehicle, steer it to a safe position on the shoulder, and stop it.
This research also targets the development of "driver assistive" technologies--such as Heads Up Display and torque feedback
supplied by the steering wheel--which provide information to the driver without necessarily requiring computer control of the
vehicle. The highlight achievement during this funding period has been the successful demonstration of a GPS-based automated
lane-keeping mode of a tractor-trailer on the Minnesota Road Research Project (Mn/ROAD) test track. The report concludes with
a strategy for pursuing future deployment.
Alexander, Lee; Bajikar, Sundeep; Lim, Heon-Min; Morellas, Vassilios; Morris, Ted; Donath, Max.
Safetruck: Sensing and Control to Enhance Vehicle Safety.
Minnesota Department of Transportation.
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