Active speed and cruise control of the mobile robot based on the analysis of the position of the preceding vehicle

The aim of this study was to implement a vision system on board of a Nvidia Jetson Nano along with a camera, and to implement the Jetracer platform control. To introduce the theoretical background, literature related to image processing, active cruise control, and autonomous vehicles was reviewed. The image processing and vehicle control methods used in this paper are then described. The remainder of the paper focuses on presenting an implementation of the described algorithms. This implementation was used to conduct tests, which show that the image processing methods investigated were sufficient to control the platform. Factors affecting the quality of control have also been described, these include vehicle speed and steering control gains. Comparative time dependencies of speed and steering level were plotted for selected trials, allowing the system delays to be noted.