Development of the Driving path Estimation Algorithm for Adaptive Cruise Control System and Advanced Emergency Braking System Using Multi-sensor Fusion

ACC/AEBS 시스템용 센서퓨전을 통한 주행경로 추정 알고리즘

This paper presents driving path estimation algorithm for adaptive cruise control system and advanced emergency braking system using multi-sensor fusion. Through data collection, yaw rate filtering based road curvature and vision sensor road curvature characteristics are analyzed. Yaw rate filtering based road curvature and vision sensor road curvature are fused into the one curvature by weighting factor which are considering characteristics of each curvature data. The proposed driving path estimation algorithm has been investigated via simulation performed on a vehicle package Carsim and Matlab/Simulink. It has been shown via simulation that the proposed driving path estimation algorithm improves primary target detection rate.