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실시간 이미지 처리 방법을 이용한 개선된 차선 인식 경로 추종 알고리즘 개발

실시간 이미지 처리 방법을 이용한 개선된 차선 인식 경로 추종 알고리즘 개발
Alternative Title
Development of an Improved Geometric Path Tracking Algorithm with Real Time Image Processing Methods
Issued Date
자동차안전학회지, v.13, no.2, pp.35 - 41
Author Keywords
Pure pursuit(퓨어 퍼슛)Segmentation(영상 분할)Dataset Augmentation(데이터셋 증강)Post processing (후처리)Look-ahead distance(전방 주시 거리)Smoothing filter(스무딩 필터)
In this study, improved path tracking control algorithm based on pure pursuit algorithm is newly proposed by using improved lane detection algorithm through real time post-processing with interpolation methodology.
Since the original pure pursuit works well only at speeds below 20 km/h, the look-ahead distance is implemented as a sigmoid f unction to work well at an average speed of 45 km/h to improve tracking performance. In addition, a smoothing filter was added to reduce the steering angle vibration of the original algorithm, and the stability of the steering angle was improved. The post-processing algorithm presented has implemented more robust lane recognition system using real-time pre/post processing method with deep learning and estimated interpolation. Real time processing is more cost-effective than the method using lots of computing resources and building abundant datasets for improving the performance of deep learning networks. Therefore, this paper also presents improved lane detection performance by using the final results with naive computer vision codes and pre/post processing. Firstly, the pre-processing was newly designed for real-time processing and robust recognition performance of augmentation. Secondly, the post-processing was designed to detect lanes by receiving the segmentation results based on the estimated interpolation in consideration of the properties of the continuous lanes. Consequently, experimental results by utilizing driving guidance line information from processing parts show that the improved lane detection algorithm is effective to minimize the lateral offset error in the diverse maneuvering roads.
사단법인 한국자동차안전학회
Related Researcher
  • 최경호 Choi, Gyeungho 융합전공
  • Research Interests ADAS; Automated Driving System; Clean Gas Energy Technology; Air Pollution Control Technology
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Appears in Collections:
Department of Interdisciplinary Studies Advanced Intelligent Mobility Research Group 1. Journal Articles
Department of Robotics and Mechatronics Engineering Autonomous Systems and Control Lab 1. Journal Articles


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