On-Road Vehicle Localization with GPS under Long Term Failure of a Vision Sensor

Kang, Changmook; Lee, Seung-Hi; Chung, Chung Choo

doi:10.1109/ITSC.2015.266

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On-Road Vehicle Localization with GPS under Long Term Failure of a Vision Sensor

Kang, Changmook;
Lee, Seung-Hi;
Chung, Chung Choo

Citations

SCOPUS

17

초록

In this paper, we consider on-road vehicle localization with the global positioning system (GPS) under long term failure of a vision sensor. When the output of vision sensor is not available due to its malfunction and/or environmental conditions, it is necessary for the lateral control system to maintain its stability before the driver takes over control authority. We propose how to estimate lane coefficients with GPS data and the latest normal lane coefficients in the presence of failure. This lane estimation method enables the lane keeping system to keep its stability. The developed algorithm was validated via computational simulation results with CarSim and MATLAB/Simulink. We also included experimental results with a test vehicle equipped with an AutoBox from dSPACE.

키워드

Global positioning system; Intelligent systems; Intelligent vehicle highway systems; MATLAB; Sustainable development; Transportation; Vehicles; Computational simulation; Control authorities; Environmental conditions; Estimation methods; Lane keeping; Lateral control; Road vehicles; Vision sensors; System stability

제목: On-Road Vehicle Localization with GPS under Long Term Failure of a Vision Sensor

저자: Kang, Changmook; Lee, Seung-Hi; Chung, Chung Choo

DOI: 10.1109/ITSC.2015.266

발행일: 2015-11

유형: Conference Paper

저널명: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

권: 2015-October

페이지: 1638 ~ 1643