| 제목 |
비젼센서와 DRPG알고리즘을 이용한 차선 유지 보조 시스템 개발 |
| 분야 |
ITS/차량 소프트웨어 |
| 언어 |
Korean |
| 저자 |
황준연(한양대학교), 정호기(만도(주)), 허건수(한양대학교), 나혁민(만도(주)), 강형진(만도(주)), 윤팔주(만도(주)) |
| Key Words |
LKAS(차선유지 보조 시스템), DRPG(Desired Reference Path Generation), HILS(Hardware In the Loop Simulation), LQR(Linear Quadratic Regulator), LDS(Lane Detection System) |
| 초록 |
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. |
| 원문(PDF) |
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