Abstract
자동 주행 차량을 구현하기 위해서는 장애물 인식, 차선 인식 및 변경 등 많은 기능들이 필요하다. 본 논문에서는 자동차 주행에 필요한 '차선 인식'의 범위를 확장시킨 '색깔 인식' 개념을 도입 적용시키기 위해 3가지 코스를 주행하는 시스템을 구현하였다. RC car의 크기와 비례하게 축소 제작한 각 코스에서 주행에 필요한 검지선의 위치, 기울기 및 차량의 속도를 고려하여 조향 제어를 하였고, 브레이크 기능이 없는 RC car를 제어하기 위해 차량의 속도와 검지선의 위치를 고려하였다. Automatic driving needs many functions such as the obstacle recognition, the lane recognition, and the lane change, etc. In this paper, we realized a system which automatically drove the three-kinds of vehicle driving course, to introduce and apply the concept of 'color recognition' that expands the scope of 'lane recognition' for vehicle driving. We made the reduced each course compared with RC(Radio Control) car size, and controlled the steering considering the position and the slope of the detection line and the speed. Because the RC car does not have the brake function, we consider the speed and the position of the detection line to stop the RC car.
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