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초록
Predictive virtual lane has been known that it can cope with up to several sampling period camera failure providing improved lateral control performance of lane keeping system. In this paper, we propose an improved lane estimation scheme using a vehicle kinematic lateral motion model and clothoidal road constraints to resolve a longer failure than that considered in the previous study. The lane estimation system gives virtual lane information to the lateral control system. The developed algorithm was validated via computational simulation results with CarSim and MATLAB/Simulink, and experimental results with a test vehicle equipped with an AutoBox from dSPACE.
키워드
Amphibious vehicles; Intelligent systems; Kinematics; MATLAB; Roads and streets; Transportation; Computational simulation; Estimation schemes; Estimation systems; Lateral control; Lateral motion; MATLAB /simulink; Road constraint; Sampling period; Vehicles
- 제목
- Lane estimation using a vehicle kinematic lateral motion model under clothoidal road constraints
- 저자
- Kang, Chang Mook; Lee, Seung-Hi; Chung, Chung Choo
- 발행일
- 2014-11
- 유형
- Conference Paper
- 저널명
- 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
- 페이지
- 1066 ~ 1071