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고속 자율 주행을 위한 차선 유지 시스템 개발Development of Lane Keeping System for Autonomous Driving on High-Way
- Other Titles
- Development of Lane Keeping System for Autonomous Driving on High-Way
- Issue Date
- Nov-2012
- Publisher
- 한국자동차공학회
- Keywords
- Lane keeping system(차선 유지); Lane centering control(차선 유지); Lane keeping assist(차선 유지 보조); Autonomous driving(자율주행); Mutirate system(다중 비율 시스템); Lateral control(횡 방향 제어); Motor Driven Power Steering (모터 제어 조향 장치); Electric Power Steering(모터 제어 조향 장치)
- Citation
- 2012 한국자동차공학회 학술대회 및 전시회, no. , pp.1441 - 1445
- Indexed
- OTHER
- Journal Title
- 2012 한국자동차공학회 학술대회 및 전시회
- Start Page
- 1441
- End Page
- 1445
- Abstract
- This paper presents design and experimental validation of the lane keeping system with a motor driven power steering system. The lane keeping system consists of multirate Kalman filter, state feedback controller and steering controller. The multirate Kalman filter is to estimate the vehicle states at a fast sample rate using a slow vision-based lane detection by a camera and fast motion detection by inertial sensors. The performance of proposed lane keeping system is experimentally validated with a test vehicle on a proving ground.
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Collections - 서울 공과대학 > 서울 전기공학전공 > 1. Journal Articles
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Related Researcher
- Chung, Chung Choo
- COLLEGE OF ENGINEERING (MAJOR IN ELECTRICAL ENGINEERING)