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비전 센서 및 Steer-by-Wire 액츄에이터를 이용한 차선 이탈 방지 시스템 개발
박범찬(Bumchan Park),흥대건(Daegun Hong),허건수(Kunsoo Huh) 한국자동차공학회 2003 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.