IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
권호 표지

Lane Detection for Adaptive Control of Autonomous Vehicle

지능형 자동차의 적응형 제어를 위한 차선인식

  • 김현구 (영남대학교 정보통신학과) ;
  • 주영환 (영남대학교 정보통신학과) ;
  • 이종훈 (대구경북과학기술연구원(DGIST)) ;
  • 박용완 (영남대학교 전자정보공학부) ;
  • 정호열 (영남대학교 전자정보공학부)
  • Received : 2009.12.18
  • Accepted : 2009.12.27
  • Published : 2009.12.30
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Abstract

Currently, most automobile companies are interested in research on intelligent autonomous vehicle. They are mainly focused on driver's intelligent assistant and driver replacement. In order to develop an autonomous vehicle, lateral and longitudinal control is necessary. This paper presents a lateral and longitudinal control system for autonomous vehicle that has only mono-vision camera. For lane detection, we present a new lane detection algorithm using clothoid parabolic road model. The proposed algorithm in compared with three other methods such as virtual line method, gradient method and hough transform method, in terms of lane detection ratio. For adaptive control, we apply a vanishing point estimation to fuzzy control. In order to improve handling and stability of the vehicle, the modeling errors between steering angle and predicted vanishing point are controlled to be minimized. So, we established a fuzzy rule of membership functions of inputs (vanishing point and differential vanishing point) and output (steering angle). For simulation, we developed 1/8 size robot (equipped with mono-vision system) of the actual vehicle and tested it in the athletics track of 400 meter. Through the test, we prove that our proposed method outperforms 98 % in terms of detection rate in normal condition. Compared with virtual line method, gradient method and hough transform method, our method also has good performance in the case of clear, fog and rain weather.

Keywords

References

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