| LANE-FOLLOWING METHOD FOR HIGH SPEED AUTONOMOUS VEHICLES |
| K. B. LEE, M. H. HAN |
| Korea University |
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| ABSTRACT |
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This paper presents a steering control method for lane following of a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. From the travel path so generated, the steering angle is calculated and through motor control the vehicle follows the travel path. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) with a variety of radii (50m~300m) while traveling at a speed of 60km/h to 80km/h. Compared with an experienced human driver, the method did not show much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for Stop & Go. |
| Key Words:
Autonomous Vehicle, Lane Keeping, Path Generation, Steering Control |
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