Browse > Article
http://dx.doi.org/10.12815/kits.2017.16.6.219

A Study on Vehicle to Road Tracking Methodology with Consideration of vehicle lateral dynamics  

Shin, Dongho (Dept. of Mechanical Eng., Korea University of Technology and Education)
Publication Information
The Journal of The Korea Institute of Intelligent Transport Systems / v.16, no.6, 2017 , pp. 219-230 More about this Journal
Abstract
This paper proposes a vehicle to road tracking algorithm based on vision sensor by using EKF(Extended Kalman Filter). The lateral offset, heading angle, and curvature which are obtained from vehicle to road tracking might be used as inputs to steering controller of LKAS(Lane Keeping Assist System) or for the warning decision logic of LDWS(Lane Departure Warning System). To the end, in this paper, the yaw rate, steering angle, and vehicle speed as well as lane raw points together with considering of vehicle lateral dynamics are utilized to improve the exactness and convergence of the vehicle to road tracking. The proposed algorithm has been tested at a proving ground that consists of straight and curve sections and compared with GPS datum using DGPS-RTK equipment to show the feasibility of the proposed algorithm.
Keywords
Extended Kalman filter; Road to vehicle tracking; Lane keeping assist system; DGPS-RTK;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Dickmanns, Ernst Dieter, and Alfred Zapp.(1987), "A curvature-based scheme for improving road vehicle guidance by computer vision," Cambridge Symposium on Intelligent Robotics Systems, International Society for Optics and Photonics.
2 McCall Joel C. and Mohan M. Trivedi.(2006), "Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation," IEEE Intelligent Transportation Systems, pp.20-37.
3 Mineta, Kenichi, Kiyozumi Unoura, and Tetsuo Ikeda.(2003), "Development of a lane mark recognition system for a lane keeping assist system," SAE Technical Paper, No. 2003-01-0281.
4 Nishida, Makoto, Seiji Kawakami, and Akihiro Watanabe.(2006), "Development of lane recognition algorithm for steering assistance system," SAE Technical Paper, No. 2005-01-1606.
5 Parent, Michel, Ljubo Vlacic, and Fumio Harashima.(2001), Intelligent Vehicle Technologies, Butterworth-Heinemann, pp.132-141.
6 Rajesh Rajamani.(2006), Vehicle Dynamics and Control, Springer, pp.14-48.
7 Shin D. H. and Joo B. H.(2010), "Design of a vision-based autonomous path-tracking control system and experimental validation," Proc. IMechE, Part D: Journal of Automobile Engineering, Vol. 224, pp.849-864.   DOI
8 Sivaraman, Sayanan, and Mohan Manubhai Trivedi.(2013), "Integrated lane and vehicle detection, localization, and tracking: A synergistic approach," IEEE Intelligent Transportation Systems, pp.906-917.