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Development of a Lane Keeping Assist System using Vision Sensor and DRPG Algorithm  

Hwang, Jun-Yeon (Department of Automotive Engineering, Hanyang University)
Huh, Kun-Soo (School of Mechanical Engineering, Hanyang University)
Na, Hyuk-Min (Mando Corporation Centeral R&D Center)
Jung, Ho-Gi (Mando Corporation Centeral R&D Center)
Kang, Hyung-Jin (Mando Corporation Centeral R&D Center)
Yoon, Pal-Joo (Mando Corporation Centeral R&D Center)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.17, no.1, 2009 , pp. 50-57 More about this Journal
Abstract
Lane Keeping Assistant Systems (LKAS) require the cooperative operation between drivers and active steering angle/torque controllers. An LKAS is proposed in this study such that the desired reference path generation (DRPG) system generates the desired path to minimize the trajectory overshoot. Based on the reference path from the DRPG system, an optimal controller is designed to minimize the cost function. A HIL (Hardware In the Loop) simulator is constructed to evaluate the proposed LKAS system. The single camera is mounted on the simulator and acquires the monitor images to detect lane markers. The performance of the proposed system is evaluated by HIL system using the Carsim and the Matlab Simulink.
Keywords
LKAS; DRPG(Desired Reference Path Generation); HILS(Hardware In the Loop Simulation); LQR(Linear Quadratic Regulator); LDS(Lane Detection System);
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Times Cited By KSCI : 1  (Citation Analysis)
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