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

Title
On-Road Vehicle Localization with GPS under Long Term Failure of a Vision Sensor
Author
정정주
Keywords
Vehicles; Global Positioning System; Roads; Estimation; Polynomials; Cameras; Wheels
Issue Date
2015-09
Publisher
IEEE
Citation
Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on, Page. 1638-1643
Abstract
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.
URI
http://ieeexplore.ieee.org/document/7313358/http://hdl.handle.net/20.500.11754/27498
ISBN
978-1-4673-6596-3; 978-1-4673-6595-6; 978-1-4673-6597-0
ISSN
2153-0017; 2153-0009
DOI
10.1109/ITSC.2015.266
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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