한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제11권6호
  • /
  • Pages.222-228
  • /
  • 2003
  • /
  • 1225-6382(pISSN)
  • /
  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

비전 센서 및 능동 조향 제어를 이용한 차선 이탈 방지 시스템 개발

Development of a Lane Departure Avoidance System using Vision Sensor and Active Steering Control

  • 허건수 (한양대학교 기계공학부) ;
  • 박범찬 (한양대학교 대학원 정밀기계공학과) ;
  • 홍대건 (한양대학교 대학원 정밀기계공학과)
  • 발행 : 2003.11.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

참고문헌

  1. ASME Advanced Automotive Technologies, DSC-Vol.56/DE-Vol.86 Lane Geometry Reconstruction : least Square Curve Fit Versus Kalman Filter C.F.Lin;A.G.Ulsoy;D.J.LeBlanc
  2. IEEE Trans. on PAMI v.14 no.2 Recursive 3-D Road and Relative Ego-state Recognition E.D.Dickmanns;B.D.Mysliwetz
  3. Proc. IEEE Intelligent Vehicles 96 Model-Based lane recognition A.Takahashi;Y.Ninomiya
  4. Proceedings of AVEC '02 Development of a Robust Lane-Sensing system Using Vision Sensors K.Huh;Y.Park
  5. Transactions of KSAE v.7 no.3 The Detection of Traffic Lanes and the Distance to the Forward Vehicle Using the Machine Vision J.W.Park;J.Y.Song;K.Y.Jhang;I.S.Chang;J.W.Lee
  6. Proc. of the American Control Conference Vehicle Steering Intervention Throught differential Braking T.Pilutti;G.Ulsoy;D.Hrovat