Citation

Suganuma N, Uozumi T. Trans. Soc. Automot. Eng. Jpn. 2011; 42(2): 563-568.

Copyright

(Copyright © 2011, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.42.563

PMID

unavailable

Abstract

To detect lane-markings and estimate its curvature is the most important technology for autonomous driving. Some conventional methods to detect it were based on forward-looking sensors. However, if relative distance to a preceding vehicle becomes short, it will become difficult to detect it. For this problem, in this paper, side-looking lane-marking detection system using laser range finders is proposed. By this system, it will become more easily to detect it all the time. Moreover, by tracking its position based on Kalman Filter, its curvature is estimated. Based on some experiments, it was confirmed that our method is effective under expressway.

Language: ja

Keywords

Electronics and control; Curvature estimation; Lane marking detection; Laser range finder; Vehicle sensor