운전 미숙자 지원을 위한 영상정보 기반 자동 차선 변경 시스템

Abstract

In this paper, we propose vision based lane change system for novice driver. We design dynamic vehicle lateral motion model based state-space model. The multirate Kalman filter is adop ed for asynchronous sensor data. In addition, risk assessment for determining whether or not the object vehicle cooperates with an ego vehicle is applied. Control performance of model was validated via experimental results with test vehicle.