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http://dx.doi.org/10.6109/jkiice.2020.24.7.834

Steering Control of an Autonomous Vehicle Using CNN  

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)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.24, no.7, 2020 , pp. 834-841 More about this Journal
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.
Keywords
CNN(Convolutional Neural Network); lane detection; steering controller; vanishing point;
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