부산대학교 도서관

The paper presents an experimental system for detection and prevention of the unintended lane-departure of road vehicles. The system is realised by a co-operation of a drive stability system and a computer vision system. The detection algorithm does not depend on the type of the lane-boundaries (lane-marks, paved lane-boundary, transition from asphalt to grass) and filters out information marks which do not signalise lane-boundaries. If lane-departure is predicted, then intervention to the vehicle's motion is applied by unilateral braking. A control algorithm is presented which calculates the necessary torque to bring the vehicle back to the lane. [ABSTRACT FROM AUTHOR]