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초록
Autonomous driving vehicle control system uses a vision sensor to get road information. Such vision sensor may provide poor detection performance due to different line intensities, and characters or imperfect lane marks on the road. In this paper, we propose a new lane estimator which uses a vehicle kinematics model. The estimator can provide predictive virtual lane even when vision system cannot provides reliable lane information due to poorly detected road images. The performance of the proposed control method is validated via simulations implemented with CarSim and Matlab/Simulink.
키워드
Lane keeping system(차선 유지); Lane centering control(차선 유지); Autonomous driving(자율주행); Lane detection (차선 인식)
- 제목
- 동역학 모델을 이용한 차선 예측기 개발
- 제목 (타언어)
- Development of Predictive Virtual Lane Using Kinematics Model
- 저자
- 김보아; 손영섭; 강대헌; 이승희; 정정주
- 발행일
- 2012-11
- 유형
- Proceeding
- 저널명
- 2012 한국자동차공학회 학술대회 및 전시회
- 페이지
- 1314 ~ 1318