http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 허승회(Seunghoi Heo) (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
자동차 전용 도로 환경에서의 차선 검출과 Pure Pursuit 알고리즘을 이용한 차선 유지 시스템
허승회(Seunghoi Heo),백선우(Sunwoo Baek),김정하(Jungha Kim) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6
This study demonstrates how to detect lanes on automobile road and to track (keep the lanes) the lane using detected lane information. First, I converted the input image of the camera into a gray image. Then, by using the Inverse Perspective Mapping, the perspective of the image was removed and the information of the lane with the constant thickness was strengthened by using the LDA (Line Difference Accumulation) method. Next, the position of the left and right lanes was confirmed by hough transformation clustering to identify the position of the left and right lane. In addition, to detect lane points, the lane points classified after template matching were approximated using the RANSAC(Random Sample Consensus) algorithm. Based on the above procedure, coordinate transformation was performed to find the position of the target point according to the speed of the vehicle and to use it for tracking the path. Finally, the final steering angle was obtained by applying the Pursuit method using the converted target point. The lane keeping test was performed based on the obtained steering angle, and the steering angle obtained from the vehicle OBD II and the difference (lateral distance error) between the center of the lane and the center of the vehicle was measured and presented.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
