Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Development of a Lane Keeping Assist System using Vision Sensor and DRPG Algorithm

비젼센서와 DRPG알고리즘을 이용한 차선 유지 보조 시스템 개발

  • 황준연 (한양대학교 자동차공학과) ;
  • 허건수 (한양대학교 자동차공학과) ;
  • 나혁민 ((주)만도 중앙연구소 전자선행팀) ;
  • 정호기 ((주)만도 중앙연구소 전자선행팀) ;
  • 강형진 ((주)만도 중앙연구소 전자선행팀) ;
  • 윤팔주 ((주)만도 중앙연구소 전자선행팀)
  • Published : 2009.01.01
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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

References

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