차량 횡방향 운동학 모델 기반 차선 예측 시스템

Abstract

In this paper, we deal with kinematic vehicle models for lane estimation systems. Comparative lane coefficients estimation performance of each dynamic and kinematic model is evaluated according to the tire slip angle. The estimation schme makes use of clothoidal road constraints, respectively. We observe that the kinematic model is robust against unknown vehicle parameters tire-road condition or cornering stiffness for autonomous driving systems under lane keeping situation. The reliability of each model was validated via not only computational simulation results but also experimental results with a test vehicle.