곡선모델 차선검출 기반의 GPS 횡방향 오차보정 성능향상 기법

다국어 초록 (Multilingual 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.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. GPS 위치오차 추정 필터
• III. 자율주행 실험 결과
• IV. 결론
• REFERENCES

참고문헌 (Reference)

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9 B. -H. Lee, "Error correction method with precise map data for GPS/DR based on vision/vehicle speed sensor" 2013

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11 T. Li, "A new 3D LIDAR-based lane markings recognition approach" 2013