• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.1123-1124
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• 2023

본 논문은 실시간 차선 인식을 기반으로 한 자율주행 알고리즘을 제안한다. 자율주행 알고리즘은 크게 차선 인식과 의사결정으로 구분된다. 차선 인식 부분에서는 직관적인 판단을 위해 버드 아이 뷰로 영상데이터를 변환하여 안정적 차선 인식을 위하여 차선 영역을 추출하고 노이즈를 제거하는 전처리과정을 거친다. 이렇게 처리된 영상에서 Hough 변환을 통하여 차선을 검출한다. 의사결정 부분에서는 검출된 차선과 현재 위치를 기반으로 진행할 경로를 결정한다.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.74-80
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• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.