Research of the Unmanned Vehicle Control and Modeling for Lane Tracking and Obstacle Avoidance

  • Kim, Sang-Gyum (Graduate School of Automotive Engineering, Kookmin University) ;
  • Lee, Woon-Sung (Graduate School of Automotive Engineering, Kookmin University) ;
  • Kim, Jung-Ha (Graduate School of Automotive Engineering, Kookmin University)
  • Published : 2003.10.22


In this paper, we will explain 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: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe 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.