속도 프로파일 계획을 통한 영상 기반 차선 유지 및 변경 제어

Abstract

In this paper, we propose vision sensor-based lane keeping and change control. Road coefficients obtained by the camera sensor are used to obtain state references for the vehicle dynamics model for lane keeping and change control. A lane change algorithm using reference velocity profile planning is proposed and verified through actual vehicle experiments. The proposed method is expected to be applied to autonomous vehicles to improve lane change performance.