비젼 시스템을 이용한 자율 주행 차량의 실시간 주행 방향 추정

Traveling Direction Estimation of Autonomous Vehicle using Vision System

In this paper, we describes a method of estimating traveling direction of a autonomous vehicle. For the development of autonomous vehicle, it is important to detect road lane and to reckon traveling direction. The object of a propose algorithm is to perform lane detection in real-time for standalone vision system. And we calculate efficent traveling direction to find steering angie for lateral control system. Therefore autonomous vehicle go forward the center of lane by adjusting the current steering angle using traveling direction.