차선유지를 위한 다중차량 정보 기반의 가상도로 모델 생성

Intelligent vehicle uses vision sensor to get road information for lane keeping control and adaptive cruise control of Autonomous driving vehicle control system. Such vision sensor has been known that it can provide poor detection performance due to unclear lane marks or obstacles. In this paper, we propose a virtual road model which uses Multi-vehicle information. The proposed model provided more improved performance than that considered in previous study which uses Ego-vehicle information. The performance of the proposed virtual road model is validated via experimental results.