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단일 카메라를 이용한 차선 이탈 및 전방 충돌 통합 경보 알고리즘 개발, 구성 및 검증
이준영(Junyung Lee),문승욱(Seungwuk Moon),이경수(Kyongsu Yi),윤병민(Byoungmin Yun),류시복(Sibok Yu) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper describes a combined warning system for Lane Departure Warning and Forward Collision Warning based on a single camera. The measurements from a single camera are a relative distance, a relative velocity, a road width, lateral offsets between each tire and each lane boundary and the rate of departure relative to lane boundary. The forward collision warning algorithm computes a warning index and an inverse time to collision in order to detect vehicle-to-vehicle collision. In addition, the lane departure warning algorithm computes a Distance to Lane Crossing(DLC) and a Time to Lane Crossing (TLC) to detect inattentive lane departure. The proposed warning system is investigated via the closed-loop simulation with human driver model Finally, it has been implemented on a test vehicle and tested in real road environment.