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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of a Lateral Control System for Autonomous Vehicles Using Data Fusion of Vision and IMU Sensors with Field Tests

비전 및 IMU 센서의 정보융합을 이용한 자율주행 자동차의 횡방향 제어시스템 개발 및 실차 실험

  • Park, Eun Seong (School of Mechanical Engineering, Pusan National University) ;
  • Yu, Chang Ho (Graduate School of Technology Entrepreneurship, Pusan National University) ;
  • Choi, Jae Weon (School of Mechanical Engineering, Pusan National University)
  • Received : 2014.11.15
  • Accepted : 2014.12.30
  • Published : 2015.03.01
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Abstract

In this paper, a novel lateral control system is proposed for the purpose of improving lane keeping performance which is independent from GPS signals. Lane keeping is a key function for the realization of unmanned driving systems. In order to obtain this objective, a vision sensor based real-time lane detection scheme is developed. Furthermore, we employ a data fusion along with a real-time steering angle of the test vehicle to improve its lane keeping performance. The fused direction data can be obtained by an IMU sensor and vision sensor. The performance of the proposed system was verified by computer simulations along with field tests using MOHAVE, a commercial vehicle from Kia Motors of Korea.

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References

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