Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Driving three kinds of Course Test with RC car by Color Recognition

색깔 인식에 의한 RC car의 3가지 코스 시험 주행

  • Lee, Jong-Min (Department of Electrical and Electronic Information and Communication Engineering, Tongmyong University) ;
  • Sohn, Young-Sun (Department of Electronic Engineering, Tongmyong University)
  • 이종민 (동명대학교 전기전자정보통신공학과) ;
  • 손영선 (동명대학교 전자공학과)
  • Received : 2013.09.01
  • Accepted : 2013.11.27
  • Published : 2014.02.25
Download PDF
⟨ Previous Next ⟩

Abstract

Automatic driving needs many functions such as the obstacle recognition, the lane recognition, and the lane change, etc. In this paper, we realized a system which automatically drove the three-kinds of vehicle driving course, to introduce and apply the concept of 'color recognition' that expands the scope of 'lane recognition' for vehicle driving. We made the reduced each course compared with RC(Radio Control) car size, and controlled the steering considering the position and the slope of the detection line and the speed. Because the RC car does not have the brake function, we consider the speed and the position of the detection line to stop the RC car.

자동 주행 차량을 구현하기 위해서는 장애물 인식, 차선 인식 및 변경 등 많은 기능들이 필요하다. 본 논문에서는 자동차 주행에 필요한 '차선 인식'의 범위를 확장시킨 '색깔 인식' 개념을 도입 적용시키기 위해 3가지 코스를 주행하는 시스템을 구현하였다. RC car의 크기와 비례하게 축소 제작한 각 코스에서 주행에 필요한 검지선의 위치, 기울기 및 차량의 속도를 고려하여 조향 제어를 하였고, 브레이크 기능이 없는 RC car를 제어하기 위해 차량의 속도와 검지선의 위치를 고려하였다.

Keywords

References

  1. Camillo J. Taylor, Jana Kosecka, Robert Blasi, and Jitendra Malik, "A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving", The International Journal of Robotics Research, Vol. 18, pp. 442-453, 1999 https://doi.org/10.1177/02783649922066321
  2. C. H. Jang, M. C. Lee, M. K. Lee, M. H. Sunwoo, "An Information Fusion-based Vision System for an Autonomous Vehicle", KSAE 2012 Annual Conference and Exhibition, pp. 1-4, 2012
  3. S. H. Jeon, B. K. Kim, "Obstacle Detection for Navigation of an Indoor Mobile Robot by Stereo Vision", Proceedings of the 10th KOREA AUTOMATIC CONTROL CONFERENCE, Vol. 1, No. 2, pp. 835-838, 1995
  4. S. S. Kim, H. S. Kim, J. E. Ha, "Obstacle Avoidance for Unmanned Vehicle using Stereo", KSAE, 2007 SPRING CONFERENCE PROCEEDINGS, Vol. 4, pp. 2122-2127, 2007
  5. Bin Yu and Anil K. Jain, "Lane Boundary Detection Using A Multiresolution Hough TransForm", in Proceedings of the IEEE International Conference on Image Processing, Vol. 2, pp. 748-751, 1997
  6. S. J. Ahn, M. H. Han, "Research of the Lane Recognition for an Advanced Vehicle System", Journal of KIIT, Vol. 5, No. 1, pp. 136-142, 2007
  7. Y. S. Chae, "Driverless Car", KSAE, AUTO JOURNAL, Vol. 35, No. 5, pp. 53-56, 2013
  8. J. M. Lee, Y. S. Sohn, "Automatic Driving by Color Recognition", Proceedings of KIIS Spring Conference 2012, Vol. 22, No. 1, pp. 23-24, 2012