모델기반 예측 제어기를 이용한 차선유지 보조 시스템 개발Development of a Model Based Predictive Controller for Lane Keeping Assistance System
- Other Titles
- Development of a Model Based Predictive Controller for Lane Keeping Assistance System
- Authors
- 황준연; 허건수; 강형진; 나혁민; 정호기; 윤팔주
- Issue Date
- May-2009
- Publisher
- 한국자동차공학회
- Keywords
- 차선유지 보조 시스템; 모델기반 예측제어; HIL 시뮬레이션; 조향 제어; LKAS; MBPC; HILS; Steering control; LDS(Lane Detection System)
- Citation
- 한국자동차공학회 논문집, v.17, no.3, pp.54 - 61
- Indexed
- KCI
- Journal Title
- 한국자동차공학회 논문집
- Volume
- 17
- Number
- 3
- Start Page
- 54
- End Page
- 61
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/176773
- ISSN
- 1225-6382
- Abstract
- Lane keeping assistant system (LKAS) could save thousands of lives each year by maintaining lane position and is regarded as a promising active safety system. The LKAS is expected to reduce the driver workload and to assist
the driver during driving. This paper proposes a model based predictive controller for the LKAS which requires cooperative driving between the driver and the assistance system. A Hardware-In-the-Loop-Simulator (HILS) is
constructed for its evaluation and includes Carsim, Matlab Simulink and a lane detection algorithm. The single camera is mounted with the HILS to acquire the monitor images and to detect the lane markers. The simulation is conducted to validate the LKAS control performance in various road scenario.
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