Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Development of a Lane Departure Avoidance System using Vision Sensor and Active Steering Control

비전 센서 및 능동 조향 제어를 이용한 차선 이탈 방지 시스템 개발

  • 허건수 (한양대학교 기계공학부) ;
  • 박범찬 (한양대학교 대학원 정밀기계공학과) ;
  • 홍대건 (한양대학교 대학원 정밀기계공학과)
  • Published : 2003.11.01
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Abstract

Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

Keywords

References

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