고속 자율 주행을 위한 차선 유지 시스템 개발

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.