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Development of a Lane Departure Avoidance System using Vision Sensor and Active Steering Control  

허건수 (한양대학교 기계공학부)
박범찬 (한양대학교 대학원 정밀기계공학과)
홍대건 (한양대학교 대학원 정밀기계공학과)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.11, no.6, 2003 , pp. 222-228 More about this Journal
Abstract
Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.
Keywords
Lane departure avoidance; Vision sensor; Kalman filter; Lane sensing; Active steering control;
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