Hybrid Tracker Based Optimal Path Tracking System of Autonomous Driving for Complex Road Environments

Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this research proposes hybrid tracker based optimal path tracking system. By applying a deep le...

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Bibliographic Details
Published in:IEEE access 2021, Vol.9, p.71763-71777
Main Authors: Seo, Eunbin, Lee, Seunggi, Shin, Gwanjun, Yeo, Hoyeong, Lim, Yongseob, Choi, Gyeungho
Format: Article
Language:English
Subjects:
Algorithms
Autonomous vehicles
Complexity
Computational modeling
Deep learning
driving stability
Global Positioning System
Intelligent vehicles
Lane detection
Machine learning
Path tracking
Roads
Roundabouts
Stability
Stability analysis
Tracking systems
Traffic intersections
vehicle driving
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Summary:Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this research proposes hybrid tracker based optimal path tracking system. By applying a deep learning based lane detection algorithm and a designated fast lane fitting algorithm, this research developed a lane processing algorithm that shows a match rate with actual lanes with minimal computational cost. In addition, three modified path tracking algorithms were designed using the GPS based path or the vision based path. In the driving system, a match rate for the correct ideal path does not necessarily represent driving stability. This research proposes hybrid tracker based optimal path tracking system by applying the concept of an observer that selects the optimal tracker appropriately in complex road environments. The driving stability has been studied in complex road environments such as straight road with multiple 3-way junctions, roundabouts, intersections, and tunnels. Consequently, the proposed system experimentally showed the high performance with consistent driving comfort by maintaining the vehicle within the lanes accurately even in the presence of high complexity of road conditions. Code will be available in https://github.com/DGIST-ARTIV .
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3078849