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자율주행 차량의 추측항법 성능 향상을 위한 직진 판단 알고리즘 개발
홍성봉(Sungbong Hong),이상종(Sangjong Lee),최용석(Yongseok Choi) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
This paper proposes the straight driving detection algorithm using vehicle sensors. Knowing the straight driving state of the vehicle can prevent error accumulation in the dead reckoning process. To know the straight driving state of the vehicle, the left and right lane information from the front camera, the yaw rate from the IMU in the vehicle, the steering angle from steering angle sensor and the wheel speed from the four wheel speed sensors are used. The proposed method is confirmed by simulation.