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Predictive virtual lane method using relative motions between a vehicle and lanes


We propose a new approach for virtual lane prediction. The main contribution of the proposed method is that the predicted virtual lane can be substituted for lane detection using a camera sensor when the camera image processing fails to detect the lane. The proposed method generates the predicted virtual lane using the relative movement between a vehicle and a lane. To predict the lane, a third-order polynomial function of the longitudinal distance is used as a lane model. Each coefficient of the lane polynomial function at the next sampling time is geometrically calculated using the relative movement of a vehicle, the lanes, the longitudinal velocity and the yaw of the vehicle at the present time. Then, the predictive virtual lane at the next sampling time is obtained without the lane information from the camera sensor at the next sampling time. The proposed method is simple enough that it is suitable for real implementation. The performance of the proposed method was evaluated via experiments with a test vehicle.

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Correspondence to Chung Choo Chung.

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Youngseop Son received his B.S. and M.S. degrees in Electronics Engineering from Sogang University, Seoul, Korea, in 1997 and 1999, respectively. He is currently working toward the Ph.D. degree at the Hanyang University. Since 1999, he is working in Global R&D Center, Mando Co. His main research interests include intelligent vehicle, autonomous driving and robust control. Mr. Son is a member of the Korea Society of Automotive Engineers, the Institute of Control, Robotics and Systems, and the Korean Institute of Electrical Engineers.

Wonhee Kim received his B.S. and M.S. degrees in Electrical Computer Engineering, and Ph.D. degree in Electrical Engineering from Hanyang University, Seoul, Korea, in 2003, 2005, and 2012, respectively. Dr. Kim is an assistant professor of the Department of Electrical Engineering, Dong-A University. From 2005 to 2007, he was with Samsung Electronics Co., Korea. In 2012, he was with the Power & Industrial Systems R&D Center of Hyosung Co., Korea. In 2013, Dr. Kim was a post doctoral researcher of the Institute of Nano Science & Technology, Hanyang University and was also a visiting scholar of the Department of Mechanical Engineering, University of California, Berkeley. His current research interests include nonlinear control, nonlinear observer, and their industrial applications.

Seung-Hi Lee received his B.S. degree in Mechanical Engineering from Korea University, Seoul, and an M.S. degree in Mechanical Engineering from Seoul National University, Seoul, Korea, in 1985 and 1987, respectively, and a Ph.D. degree in Mechanical Engineering and Applied Mechanics from the University of Michigan, Ann Arbor, in 1993. From 1988 to 1989, he was a Research Scientist with the Korea Institute of Science and Technology. Since 1994, he had been with Samsung Advanced Institute of Technology, Korea, where he was a team leader responsible for advanced servomechanical systems. In 2009, he joined Hanyang University, Seoul, Korea, as a Research Professor, where he is also teaching advanced control systems. His research interests include robust sampled-data feedback control of uncertain systems, and application to information storage, automotive, electromechanical, and manufacturing systems. Prof. Lee has served as a Member of the Editorial Board of International Journal of Control, Automation, and Systems.

Chung Choo Chung received his B.S. and M.S. degrees in Electrical Engineering from Seoul National University, Seoul, Korea, and his Ph.D. degree in Electrical and Computer Engineering from the University of Southern California, Los Angeles, in 1993. From 1994 to 1997, he was with Samsung Advanced Institute of Technology, Korea. In 1997, he joined the faculty of Hanyang University, Seoul, Korea. Dr. Chung was an Associate Editor for the Asian Journal of Control (AJC) from 2000 to 2002 and an Editor for the International Journal of Control, Automation and Systems (IJCAS) from 2003 to 2005. He was an Associate Editor for the 2003 IEEE Conference on Decision and Control (IEEE CDC), and an Associate Editor and the Co-Chair of Publicity of the International Federation of Automatic Control (IFAC) World Congress, Korea in 2008. He served as a program committee member of the American Society of Mechanical Engineers (ASME) International Conference on Information Storage and Processing Systems (ISPS) 2011. He was a guest editor for the special issue on advanced servo control for emerging data storage systems published by IEEE Trans. on Control System Technologies (TCST). Currently he is an Associate Editor of TCST and also a Program Co-Chair of 2015 IEEE Intelligent Vehicles Symposium.

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Son, Y.S., Kim, W., Lee, SH. et al. Predictive virtual lane method using relative motions between a vehicle and lanes. Int. J. Control Autom. Syst. 13, 146–155 (2015).

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  • Driver assistance system
  • kinematics
  • lane detection
  • virtual lane