드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제17권4호
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  • Pages.72-79
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  • 2020
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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도심 주행을 위한 AVM 영상과 RTK GPS를 이용한 차량의 정밀 위치 추정

Precision Localization of Vehicle using AVM Image and RTK GPS for Urban Driving

  • Gwak, Gisung (Department of Mechanical Engineering, Sungkyunkwan University) ;
  • Kim, DongGyu (Department of Mechanical Engineering, Sungkyunkwan University) ;
  • Hwang, Sung-Ho (Department of Mechanical Engineering, Sungkyunkwan University)
  • 투고 : 2020.11.04
  • 심사 : 2020.11.17
  • 발행 : 2020.12.01
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초록

To ensure the safety of Advanced Driver Assistance Systems (ADAS) or autonomous vehicles, it is important to recognize the vehicle position, and specifically, the increased accuracy of the lateral position of the vehicle is required. In recent years, the quality of GPS signals has improved a lot and the price has decreased significantly, but extreme urban environments such as tunnels still pose a critical challenge. In this study, we proposed stable and precise lane recognition and tracking methods to solve these two issues via fusion of AVM images and vehicle sensor data using an extended Kalman filter. In addition, the vehicle's lateral position recognition and the abnormal state of RTK GPS were determined using this approach. The proposed method was validated via actual vehicle experiments in urban areas reporting multipath and signal disconnections.

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참고문헌

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