Lane Estimation Using a Vehicle Kinematic Lateral Motion Model under Clothoidal Road Constraints
- Title
- Lane Estimation Using a Vehicle Kinematic Lateral Motion Model under Clothoidal Road Constraints
- Author
- 정정주
- Keywords
- Vehicles; Roads; Mathematical model; Cameras, Kinematics; Computational modeling; Wheels
- Issue Date
- 2014-10
- Publisher
- Intelligent Transportation Systems (ITSC)
- Citation
- 2014 IEEE 17th International Conference on 2014 Oct, 2014년, pp.1066 - 1071
- Abstract
- Predictive virtual lane has been known that it can cope with up to several sampling period camera failure providing improved lateral control performance of lane keeping system. In this paper, we propose an improved lane estimation scheme using a vehicle kinematic lateral motion model and clothoidal road constraints to resolve a longer failure than that considered in the previous study. The lane estimation system gives virtual lane information to the lateral control system. The developed algorithm was validated via computational simulation results with CarSim and MATLAB/Simulink, and experimental results with a test vehicle equipped with an AutoBox from dSPACE.
- URI
- http://ieeexplore.ieee.org/document/6957829/http://hdl.handle.net/20.500.11754/58395
- DOI
- 10.1109/ITSC.2014.6957829
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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