Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Detection of Lane and Displacement of Obstacle for AGV using Vision System

비전시스템을 이용한 자율주행량의 차선내 차량의 변위 검출에 관한 연구

  • Lee, Jin-Woo (Department of electrical engineering, Dong-A University) ;
  • Choi, Sung-Uk (Department of electrical engineering, Dong-A University) ;
  • Lee, Chang-Hoon (Department of electrical engineering, Dong-A University) ;
  • Lee, Yung-Jin (Department of electrical instrument and control, Korea Aviation Polytechnic College) ;
  • Lee, Kwon-Soon (Department of Electrical Electronics Computer Engineering, Dong-A University)
  • 이진우 (동아대학교 전기공학과) ;
  • 최성욱 (동아대학교 전기공학과) ;
  • 이창훈 (동아대학교 전기공학과) ;
  • 이영진 (항공기능대 전기계측제어과) ;
  • 이권순 (동아대학교 전기전자컴퓨터공학부)
  • Published : 2001.07.18
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Abstract

This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle by steering controller.

Keywords