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PRV II (POSTECH Road Vehicle II) is an intelligent vehicle remodelled from a HYUNDAI van called 'GRACE'. For the navigation algorithm, a new hybrid architecture which is composed of a conventional computer vision mode and a neural network mode is proposed. For each mode, fitness to the road environment is evaluated independently and then the vehicle control commands are obtained by a weighed combination of the outputs of these modes. An intelligent autonomous cruise control feature is added to PRV II by implementing various functions such as collision avoidance, car following and parallel parking. We use a CCD camera and sonar sensors for these algorithms. The position tracking system used in PRV II is based on GPS (Global Positioning System) with gyro and speedometer sensors for dead-reckoning, and the position error sizes are reduced from 60-100 meters to 10-15 meters.
Kim et al. (Tue,) studied this question.