Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Curve-Modeled Lane Detection based GPS Lateral Error Correction Enhancement

곡선모델 차선검출 기반의 GPS 횡방향 오차보정 성능향상 기법

  • Lee, Byung-Hyun (Department of Electronics Engineering, Konkuk University) ;
  • Im, Sung-Hyuck (Division of Satellite Navigation, Korea Aerospace Research Institute) ;
  • Heo, Moon-Beom (Division of Satellite Navigation, Korea Aerospace Research Institute) ;
  • Jee, Gyu-In (Department of Electronics Engineering, Konkuk University)
  • 이병현 (건국대학교 전자공학부) ;
  • 임성혁 (한국항공우주연구원 위성항법팀) ;
  • 허문범 (한국항공우주연구원 위성항법팀) ;
  • 지규인 (건국대학교 전자공학부)
  • Received : 2014.11.15
  • Accepted : 2014.12.30
  • Published : 2015.02.01
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Abstract

GPS position errors were corrected for guidance of autonomous vehicles. From the vision, we can obtain the lateral distance from the center of lane and the angle difference between the left and right detected line. By using a controller which makes these two measurements zero, a lane following system can be easily implemented. However, the problem is that if there's no lane, such as crossroad, the guidance system of autonomous vehicle does not work. In addition, Line detection has problems working on curved areas. In this case, the lateral distance measurement has an error because of a modeling mismatch. For this reason, we propose GPS error correction filter based on curve-modeled lane detection and evaluated the performance applying it to an autonomous vehicle at the test site.

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References

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