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김상겸(Sanggyum Kim),김창만(Changman Kim),유환신(Hwansin Yun),임하영(Hayoung Lim),김정하(Jungha Kim) 한국자동차공학회 2003 한국자동차공학회 Symposium Vol.2003 No.8
In this paper, we describe a method of the vehicle control and lane tracking for the unmanned vehicle. Vehicle control and lane tracking arc considered one of the important technologies in an unmanned vehicle. The current position and condition of the vehicle arc calculated from an image processing method by a CCD camera. Images are transmitted to a main computer though wireless video module. A main computer finds information of lane in road images. And it calculates control value of vehicle. In this paper, specially, vehicle control is included in the road model and lateral and longitudinal controls. And the image processing method deals with the lane detection method, image processing algorithm, and filtering method. Finally. we used median filtering method to removal of noise and used characteristic part of road image for advanced of processing time<br/>