A lateral position sensing system for automated vehicle following

Andrew Alleyne, Blake Williams, Mark DePoorter

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


This paper investigates the use of photoresistive light sensor arrays as a possible lateral position sensing system for a vehicle, or several vehicles, following a lead vehicle under separate control. A brief motivation for the use of such a sensing array is followed by a derivation of an appropriate sensor layout. It is shown that the sensing array has several benefits, including cost, simplicity, redundancy, and near linearity. Experimental results are given for a scaled vehicle following maneuver using a simple lateral control strategy. The results show that the sensor array may be attractive for lateral alignment in vehicle-following maneuvers.

Original languageEnglish (US)
Pages (from-to)218-224
Number of pages7
JournalIEEE/ASME Transactions on Mechatronics
Issue number3
StatePublished - 1998
Externally publishedYes

Bibliographical note

Funding Information:
Dr. Alleyne is the recipient of a National Science Foundation CAREER Award.


  • Control systems
  • Photodetector
  • Position measurement
  • Transducers
  • Vehicles


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