Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Steering Control of an Autonomous Vehicle Using CNN

CNN을 이용한 자율주행차 조향 제어

  • Hwang, Kwang-Bok (Dept. of Mechatronics Eng., Gyeognam Nat. Univ. of Science and Technology) ;
  • Park, Jin-Hyun (Dept. of Mechatronics Engineering, Gyeognam Nat. Univ. of Science and Technology)
  • Received : 2020.03.16
  • Accepted : 2020.04.22
  • Published : 2020.07.31
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Abstract

Among the autonomous driving systems based on visual sensors, the control method using a vanishing point is the most general method for autonomous driving. However, if the lane is lost or does not exist, it is very difficult to detect this and estimate the vanishing point. In this paper, we predict the vanishing point of the road and the vanishing point lines on the left and right sides using CNN for the camera image and design the steering controller for autonomous driving from the predicted results. As a result of the simulation, it was confirmed that the proposed method well tracked the center of the road regardless of the presence or absence of a solid lane, and was superior to the control method using a general method using the vanishing point.

시각센서 기반 자율주행 시스템 중 소실점을 이용한 제어기법은 자율주행에 있어 가장 보편적인 방법이다. 그러나 차선이 존재하지 않거나 소실된 경우, 차선검출과 소실점 추정이 매우 어렵다. 본 논문에서는 카메라 영상 이미지를 CNN에 적용하여 도로의 소실점과 소실점을 만드는 좌, 우측의 소실점 라인을 예측하고, 예측된 결과로부터 자율주행을 위한 조향 제어기를 설계하였다. 모의실험 결과 CNN을 적용한 제안한 방법이 실선 차선의 유무와 관계없이 도로의 중심을 잘 추종하였으며, 일반적인 소실점을 사용한 제어기법보다 성능이 뛰어남을 확인하였다.

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