Christian Roberto Kelber

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This paper proposes a technique for unwanted lane departure detection. Initially, lane boundaries are detected using a combination of the edge distribution function and a modified Hough transform. In the tracking stage, a linear-parabolic lane model is used: in the near vision field, a linear model is used to obtain robust information about lane(More)
This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two(More)
In this paper, we propose a new model for lane tracking and curve detection. We use a linear-parabolic model for each lane boundary, and apply constraints to link both lane boundaries based on the expected geometry of the road. The parabolic part of the model, which fits the far field, is then used to analyze the geometry of the road ahead (straight, right(More)
In this paper we address the problem of lane detection and lane tracking. A linear model is used to approximate lane boundaries in the first frame of a video sequence, using a combination of the edge distribution function and the Hough transform. A new linear-parabolic model is used in the subsequent frames: the linear part of the model is used to fit the(More)
Autonomous guided agricultural self-propelled machines are becoming more common in modern agriculture as well as the increased use of electronic solutions. In order to guarantee the effectiveness of Functional Safety functions software validation is also becoming more complex and critical during the product development. Hardware-In-the-Loop (HIL) systems(More)
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