Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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A Study on the Test Evaluation Method of LKAS Using a Monocular Camera

단안 카메라를 이용한 LKAS 시험평가 방법에 관한 연구

  • 배건환 (계명대학교 기계공학과) ;
  • 이선봉 (계명대학교 기계자동차공학과)
  • Received : 2020.06.02
  • Accepted : 2020.09.07
  • Published : 2020.09.30
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Abstract

ADAS (Advanced Driver Assistance Systems) uses sensors such as camera, radar, lidar and GPS (Global Positioning System). Among these sensors, the camera has many advantages compared with other sensors. The reason is that it is cheap, easy to use and can identify objects. In this paper, therefore, a theoretical formula was proposed to obtain the distance from the vehicle's front wheel to the lane using a monocular camera. And the validity of the theoretical formula was verified through the actual vehicle test. The results of the actual vehicle test in scenario 4 resulted in a maximum error of 0.21 m. The reason is that it is difficult to detect the lane in the curved road, and it is judged that errors occurred due to the occurrence of significant yaw rates. The maximum error occurred in curve road condition, but the error decreased after lane return. Therefore, the proposed theoretical formula makes it possible to assess the safety of the LKA system.

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References

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