{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/36580"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/36580","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Autonomous Vehicle Control using Image Processing","abstract":"This thesis describes the design of an inexpensive autonomous vehicle system using a small scaled model vehicle. The system is capable of operating in two different modes: telerobotic manual mode and automated driving mode. In telerobotic manual mode, the model vehicle is controlled by a human driver at a stationary remote control station with full-scale steering wheel and gas pedal. The vehicle can either be an unmodified toy remote-control car or a vehicle equipped with wireless radio modem for communication and microcontroller for speed control. In both cases the vehicle also carries a video camera capable of transmitting video images back to the remote control station where they are displayed on a monitor. In automated driving mode, the vehicle's lateral movement is controlled by a lateral control algorithm. The objective of this algorithm is to keep the vehicle in the center of a road. Position and orientation of the vehicle are determined by an image processing algorithm identifying a white middle marker on the road. Two different algorithm for image processing have been designed: one based on the pixel intensity profile and the other on vanishing points in the image plane. For the control algorithm itself, two designs are introduced as well: a simple classical P-control and a control scheme based on H-Infinity. The design and testing of this autonomous vehicle system are performed in the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at Virginia Tech.","abstract_html":"This thesis describes the design of an inexpensive autonomous vehicle system using a small scaled model vehicle. The system is capable of operating in two different modes: telerobotic manual mode and automated driving mode. In telerobotic manual mode, the model vehicle is controlled by a human driver at a stationary remote control station with full-scale steering wheel and gas pedal. The vehicle can either be an unmodified toy remote-control car or a vehicle equipped with wireless radio modem for communication and microcontroller for speed control. In both cases the vehicle also carries a video camera capable of transmitting video images back to the remote control station where they are displayed on a monitor. In automated driving mode, the vehicle's lateral movement is controlled by a lateral control algorithm. The objective of this algorithm is to keep the vehicle in the center of a road. Position and orientation of the vehicle are determined by an image processing algorithm identifying a white middle marker on the road. Two different algorithm for image processing have been designed: one based on the pixel intensity profile and the other on vanishing points in the image plane. For the control algorithm itself, two designs are introduced as well: a simple classical P-control and a control scheme based on H-Infinity. The design and testing of this autonomous vehicle system are performed in the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at Virginia Tech.","abstract_has_math":false,"creators":["Schlegel, Nikolai"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Electrical and Computer Engineering","degree_department":"Electrical and Computer Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Bay, John S."],"committee_members":["Kachroo, Pushkin","Nunnally, Charles E."],"year":1997,"date_issued":"1997-01-27","date_published":"1997-01-27","updated_at":"2026-07-22T22:20:40Z","subjects":["autonomous vehicle","lateral control","image processing","telerobotic operation","H-Infinity control"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-283421290973280"],"render_values":[{"text":"etd-283421290973280","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/36580","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Bay, John S."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Kachroo, Pushkin","Nunnally, Charles E."]},{"key":"dc:contributor.department","label":"Department","values":["Electrical and Computer Engineering"]},{"key":"dc:creator","label":"Author","values":["Schlegel, Nikolai"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:51:10Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:51:10Z","1997-01-27"]},{"key":"dc:date.issued","label":"Date","values":["1997-01-27"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["autonomous vehicle","lateral control","image processing","telerobotic operation","H-Infinity control"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-283421290973280"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/36580"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis describes the design of an inexpensive autonomous vehicle system using a small scaled model vehicle. The system is capable of operating in two different modes: telerobotic manual mode and automated driving mode. In telerobotic manual mode, the model vehicle is controlled by a human driver at a stationary remote control station with full-scale steering wheel and gas pedal. The vehicle can either be an unmodified toy remote-control car or a vehicle equipped with wireless radio modem for communication and microcontroller for speed control. In both cases the vehicle also carries a video camera capable of transmitting video images back to the remote control station where they are displayed on a monitor. In automated driving mode, the vehicle's lateral movement is controlled by a lateral control algorithm. The objective of this algorithm is to keep the vehicle in the center of a road. Position and orientation of the vehicle are determined by an image processing algorithm identifying a white middle marker on the road. Two different algorithm for image processing have been designed: one based on the pixel intensity profile and the other on vanishing points in the image plane. For the control algorithm itself, two designs are introduced as well: a simple classical P-control and a control scheme based on H-Infinity. The design and testing of this autonomous vehicle system are performed in the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at Virginia Tech."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:title","label":"Title","values":["Autonomous Vehicle Control using Image Processing"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Bay, John S."],"dc:contributor.committeemember":["Kachroo, Pushkin","Nunnally, Charles E."],"dc:contributor.department":["Electrical and Computer Engineering"],"dc:creator":["Schlegel, Nikolai"],"dc:date.accessioned":["2014-03-14T20:51:10Z"],"dc:date.available":["2014-03-14T20:51:10Z","1997-01-27"],"dc:date.issued":["1997-01-27"],"dc:description.abstract":["This thesis describes the design of an inexpensive autonomous vehicle system using a small scaled model vehicle. The system is capable of operating in two different modes: telerobotic manual mode and automated driving mode. 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