earticle

영어

This study proposes a way to generate a virtual lane by using a vehicle’s driving tra-jectory during the operation of a V2V-based vehicle. The existing method of road shape detection using Lidar, Radar, and camera sensors has limitations in the range of detec-tion with blind spots. To overcome such limitations, a method to generate virtual lanes was proposed to detect the road shape along with the driving trajectory of the leading vehicle based on V2V communications. A Clothoid road model was applied for the calcu-lation of the driving trajectory of the leading vehicle. A driving scenario with various changes in curvature of road was also configured. Furthermore, the feasibility of the vir-tual lane generation method was verified by comparing the reference virtual lane and the virtual lane generated by the driving trajectory. The simulation results confirmed the us-ability of the virtual lane generated from Clothoid road model.