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http://dx.doi.org/10.12815/kits.2016.15.4.081

Estimating a Range of Lane Departure Allowance based on Road Alignment in an Autonomous Driving Vehicle  

Kim, Youngmin (Korea Institute of Civil engineering and building Technology)
Kim, Hyoungsoo (Korea Institute of Civil engineering and building Technology)
Publication Information
The Journal of The Korea Institute of Intelligent Transport Systems / v.15, no.4, 2016 , pp. 81-90 More about this Journal
Abstract
As an autonomous driving vehicle (AV) need to cope with external road conditions by itself, its perception performance for road environment should be better than that of a human driver. A vision sensor, one of AV sensors, performs lane detection function to percept road environment for performing safe vehicle steering, which relates to define vehicle heading and lane departure prevention. Performance standards for a vision sensor in an ADAS(Advanced Driver Assistance System) focus on the function of 'driver assistance', not on the perception of 'independent situation'. So the performance requirements for a vision sensor in AV may different from those in an ADAS. In assuming that an AV keep previous steering due to lane detection failure, this study calculated lane departure distances between the AV location following curved road alignment and the other one driving to the straight in a curved section. We analysed lane departure distance and time with respect to the allowance of lane detection malfunction of an AV vision sensor. With the results, we found that an AV would encounter a critical lane departure situation if a vision sensor loses lane detection over 1 second. Therefore, it is concluded that the performance standards for an AV should contain more severe lane departure situations than those of an ADAS.
Keywords
Autonomous driving; Lane detection; Lane departure; Vision sensor; Road alignment;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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