Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지

Development of A Lane Departure Monitoring and Control System

  • Huh Kunsoo (School of Mechanical Engineering, Hanyang University) ;
  • Hong Daegun (Department of Precision Mechanical Engineering, Hanyang University) ;
  • Stein Jeffrey L. (Department of Mechanical Engineering, University of Michigan)
  • Published : 2005.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

The lane departure avoidance systems have been considered promising to assist human drivers in AVCS (Advanced Vehicle Control System). In this paper, a lane departure monitoring and control system is developed and evaluated in the hardware-in-the-loop simulations. This system consists of lane sensing, lane departure monitoring and active steering control subsystems. The road image is obtained based on a vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active steering controller for avoiding the lane departure is designed based on the lane departure metric. The proposed lane departure avoidance system is realized in a steering HILS (hardware-in-the-loop simulation) tool and its performance is evaluated with a driver in the loop.

Keywords

References

  1. Asai, S. and Kuroyanagi, H., 2004, 'Development of a Steer-by-Wire System with Force Feedback Using a Disturbance Observer,' SAE 2004 World Congress, No. 2004-01-1100
  2. Dickmanns, E. D. and Mysliwetz, B. D., 1992, 'Recursive 3-D Road and Relative Ego-state Recognition,' IEEE Transaction on PAMI, Vol. 14, No. 2, pp. 199-213 https://doi.org/10.1109/34.121789
  3. Ervin, R. D., Johnson, G. E., Venhovens, P. J. Th., Macdam, C. C., Ulsoy, A. G., Leblance, D. J., Lin, C. F., Peng, H., Liu, C. S., Gerber, G., DeSonia, R. and Pilutti, T. E., 1995, 'The Crewmans Associate for Path Conrrol (CAPC),' Final Report for TACOM Contract DAAE07-93-C-R124, The University of Michigan Transportation Research Institute
  4. Goldbeck, J. and Huertgen, B., 1999, 'Lane Detection and Tracking by Video Sensors,' IEEE International Conference on Intelligent Transportation Systems, pp. 74-79 https://doi.org/10.1109/ITSC.1999.821030
  5. Grewal, M. S. and Andrews, A. P. 1993, Kalman Filtering Theory and Practice, Prentice Hall, pp. 112-119
  6. Huh, K. and Park, Y., 2002, 'Development of a Robust Lane-Sensing System Using Vision Sensors,' Proceedings of AVEC, pp. 769-774
  7. Klier, W. and Reinelt, W., 2004, 'Active Front Steering (Part I): Mathematical Modeling and Parameter Estimation,' SAE 2004 World Congress, No. 2004-01-1102
  8. LeBlance, D. J., Johnson, G. E., Venhovens, P. J. Th., Gerber, G., DeSonia, R., Ervin, R. D., Lin, C. F., Ulsoy, A. G. and Pilutti, T. E., 1996, 'CAPC : An Implementation of a Road-departure Warning System,' Proc. of the IEEE Conf. on Control Applications, pp. 590-595 https://doi.org/10.1109/CCA.1996.558926
  9. Lee, Y., Suh, J., Lee, J. and Lee, K., 2005, 'An Adaptive Control of an Autonomous Guided Vehicle System Using Cell-Mediated Immune Algorithm Controller and Vision Sensor,' Journal of Mechanical Science and Technology, Vol. 19, No. 1, pp.28-39 https://doi.org/10.1007/BF02916102
  10. Lin, C. F. and Ulsoy, A. G., 1995, 'Lane Geometry Reconstruction: Least Square Curve Fit Versus Kalman Filter,' ASME Advanced Automotive Technologies, DSC-Vol. 56/DE-Vol. 86, pp. 63-70
  11. Pilutti, T. E., Ulsoy, A. G. and Hrovat, D., 1995, 'Vehicle Steering Intervention Through Differential Braking,' Proc. of the American Control Conference, pp. 1667-1671 https://doi.org/10.1109/ACC.1995.529792
  12. Reinelt, W., Klier, W. and Reimann, G., 2004, 'Active Front Steering (Part 2): Safety and Functionality,' SAE 2004 World Congress, No. 2004-01-1101
  13. Takahashi, A. and Ninomiya, Y., 1996, 'Molane recognition,' Proc. IEEE Intelligent Vehicles, pp. 162-166