차선 유지; 자율주행; 차선 인식; Lane keeping system; Lane centering control; Autonomous driving; Lane detection
Issue Date
2012-11
Publisher
한국자동차공학회 / The Korean Society Of Automotive Engineers
Citation
한국자동차공학회 추계학술대회 및 전시회, 2012, 2012(11), P.1314-1318, 5P.
Abstract
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.