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카메라를 이용한 Deep Convolutional Neural Network 기반 자율주행차량의 다중주기 횡방향 모션 제어

Title
카메라를 이용한 Deep Convolutional Neural Network 기반 자율주행차량의 다중주기 횡방향 모션 제어
Other Titles
Deep Convolutional Neural Network Based Multi-rate Lateral Motion Control of Autonomous Vehicle Using Camera
Author
정정주
Keywords
Autonomous Driving; Deep convolutional neural network(Deep CNN); Lateral motion control
Issue Date
2019-05
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회 국내학술대회 논문집, 2019.5, Page. 305-306
Abstract
In this paper, a deep convolutional neural network that predicts the road coefficients by training the forward driving area images is proposed. In order to acquire the input image used for training, a low-cost dash camera was mounted to the windshield. Through the proposed algorithm, it is verified that the appropriate control input is generated even in the situation where the conventional lane keeping system fails. The verification was conducted through computational simulation with multi-rate state estimator.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE08739600http://repository.hanyang.ac.kr/handle/20.500.11754/111346
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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