[논문]Tunnel lane-positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system

Jeong, Jae-Hoon; Byun, Gi-Sig; Park, Kiwon

doi:10.4218/etrij.2018-0192

Tunnel lane-positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system 원문보기

ETRI journal, v.41 no.4, 2019년, pp.506 - 514

Jeong, Jae-Hoon (Department of Control and Instrumentation Engineering, Pukyong National University) , Byun, Gi-Sig (Department of Control and Instrumentation Engineering, Pukyong National University) , Park, Kiwon (Department of Smart Automobile Engineering, Youngsan University)

Abstract ▼ AI-Helper

Currently, studies on autonomous driving are being actively conducted. Vehicle positioning techniques are very important in the autonomous driving area. Currently, the global positioning system (GPS) is the most widely used technology for vehicle positioning. Although technologies such as the inertial navigation system and vision are used in combination with GPS to enhance precision, there is a limitation in measuring the lane and position in shaded areas of GPS, like tunnels. To solve such problems, this paper presents the use of LED lighting for position estimation in GPS shadow areas. This paper presents simulations in the environment of three-lane tunnels with LEDs of different color temperatures, and the results show that position estimation is possible by the analyzing chromaticity of LED lights. To improve the precision of positioning, a fuzzy logic system is added to the location function in the literature [1]. The experimental results showed that the average error was 0.0619 cm, and verify that the performance of developed position estimation system is viable compared with previous works.

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문제 정의

This paper confirms that our system has accurate performance through the addition of a fuzzy logic system to the existing lane‐positioning system. In addition, this study investigated the position‐estimation system in GPS shadow areas, such as tunnels.
This paper showed the potential of the position estimation technology. If the technology using LED chromaticity, as suggested in this paper, is used in connection with existing technology, the limitations of current lane‐positioning technology, which is highly dependent on GPS, could be overcome.

제안 방법

In this experiment, the position was measured by setting a sampling frequency of Arduino2580 of 20 Hz. Because the sampling frequency of commercial GPS is approximately 1 Hz, it is expected that the position of the high‐speed vehicle can be detected by using the proposed technique.
This paper confirms that our system has accurate performance through the addition of a fuzzy logic system to the existing lane‐positioning system. In addition, this study investigated the position‐estimation system in GPS shadow areas, such as tunnels. This study configured LED lighting at 3,000K, 4,500K, and 6,000K and conducted position estimation within the lane by using the change in chromaticity corresponding to the location of each sensor.
In this study, two types of lights disturbing lane positioning were considered. The first type is that the frequency of disturbing light is very low.
The color temperatures measured at different locations on the lane are different because the effect of each color temperature varies corresponding to the variations in measurement locations. The change of the color temperatures is converted into the chromaticity values, and the position is estimated by using a fuzzy logic system designed in this study. The current positioning methods using LEDs are based on assigning an ID, whereas this study conducts position estimation using chromaticity [12‒18].
The change of the color temperatures is converted into the chromaticity values, and the position is estimated by using a fuzzy logic system designed in this study. The current positioning methods using LEDs are based on assigning an ID, whereas this study conducts position estimation using chromaticity [12‒18]. The average error of the conventional positioning system is approximately 2 cm–22 cm [12‒18].
The experiment was conducted in an experimental environment mimicking a GPS shadow area, such as a tunnel. Three LED illuminators, expressing color temperatures of 3,000K, 4,000K, and 6,000K, respectively, were installed under the ceiling of the tunnel model over the lanes.
This paper configured simulation environment of three‐lane LED tunnel lighting as shown in literature [1] indoor is shown in Figure 2. This paper configured the lane positioning experiment environment by vertically installing LED with color temperatures of 3,000K, 4,500K, and 6,000K on 80‐cm‐wide lanes. In the experimental environment, the 3,000K, 4,500K, and 6,000K lights illuminated the first, second, and third lanes, respectively, as shown in Figure 3, and then each LED light was overlapped.
In addition, this study investigated the position‐estimation system in GPS shadow areas, such as tunnels. This study configured LED lighting at 3,000K, 4,500K, and 6,000K and conducted position estimation within the lane by using the change in chromaticity corresponding to the location of each sensor. The chromaticity intensity signal from the sensors was filtered by a pre‐filtering circuit and IIR band‐pass filter to minimize the disturbance from other light sources.
However, because the incidence angle of the LED lighting for the lane positioning and the angle of the car headlamp are different, disturbances due to car headlamps may be avoided to some degree if receiving angle of the RGB sensor is adjusted. To remove the fundamental elements of the disturbance, however, this study separates LED light for lane positioning from environmental noise. That is, the pulse‐operating LED illuminator at 1.
To solve the problems of current lane‐positioning systems, this study developed a fuzzy logic algorithm to estimate the lane position of vehicles by using chromaticity variations, that is, the change in color temperature of LED light from each lane. The fuzzy logic algorithm was added to the position‐estimation system studied in previous works [1,2].

대상 데이터

The experiment was conducted in an experimental environment mimicking a GPS shadow area, such as a tunnel. Three LED illuminators, expressing color temperatures of 3,000K, 4,000K, and 6,000K, respectively, were installed under the ceiling of the tunnel model over the lanes. The color temperatures measured at different locations on the lane are different because the effect of each color temperature varies corresponding to the variations in measurement locations.

성능/효과

The maximum error between the measured and estimated positions in this experiment is approximately 1.82 cm (0.008, 1.82 ± 0.1267, mean, max ± SEM).

참고문헌 (20)

정재훈, 이동헌, 변기식, 조형래, 조윤호. LED 조명을 이용한 자율주행차용 터널 차로측위 시스템. 韓國ITS學會論文誌 = The journal of the Korea Institute of Intelligent Transportation Systems, vol.16, no.1, 186-195.

원문보기 상세보기
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상세보기
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상세보기
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Tunnel lane-positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system 원문보기

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Tunnel lane-positioning system for autonomous driving cars using LED chromaticity and fuzzy logic system 원문보기

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