Development of a path planning system using mean shift algorithm for driver assistance |
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Authors: | J Hwang D Lee K Huh H Na H Kang |
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Institution: | 1.Central R&D Center,Mando Corporation,Gyeonggi,Korea;2.Department of Automotive Engineering, Graduate school,Hanyang Universitiy,Seoul,Korea;3.Department of Automotive Engineering,Hanyang Universitiy,Seoul,Korea |
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Abstract: | The longitudinal and lateral vehicle control techniques have been widely used in several active driver assistance systems.
The adaptive cruise control, lane keeping assistant control, vehicle platooning and stop-and-go control are typical examples
of the most important applications. In this study, a novel path planning method is proposed considering the driving environment
such as road shape, ego vehicle and surrounding vehicles’ movement. The relative distance and velocity between the ego vehicle
and surrounding vehicles are identified with respect to the predicted lane shape in front of the ego vehicle. Based on the
identified information, the road shape and surrounding vehicles are mapped into the intensity image and the desired vector
for the ego vehicle’s movement is determined by the maximum intensity density tracing method. The desired vehicle path is
followed by the acceleration/deceleration control and the steering assist control, respectively. In order to evaluate the
performance of the proposed system, simulations are conducted and compared with ACC systems. |
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Keywords: | |
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