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차선추종과 충돌회피를 위한 무인자동차의 제어 및 모델링
김상겸(Sanggyum Kim),유환신(Whanshin Yu),임하영(Hayoung Lim),김정하(Jungha Kim) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, we will be explained about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: one longitudinal control system for the acceleration and deceleration, the other lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we purpose the method of vehicle control, modeling and obstacle avoidance. Second, we describes a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.