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Estimation of Road Configuration and Vehicle Attitude by Lane Detection for a Lane-Keeping System
Technical Paper
2001-01-0799
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
SAE 2001 World Congress
Language:
English
Abstract
This paper describes an image processing system for tracking a traffic lane by recognizing white lines on the road ahead. The system utilizes the features of the white lines and the Hough transformation to detect white line candidate points in images taken with a CCD camera. The parameters of the road configuration and vehicle attitude are estimated with an extended Kalman filter. This system has been applied to achieve a lane-keeping assistance system that provides steering control based on the host vehicle’s lateral position in its lane.
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Authors
Citation
Tsuji, M., Shirato, R., Furusho, H., and Akutagawa, K., "Estimation of Road Configuration and Vehicle Attitude by Lane Detection for a Lane-Keeping System," SAE Technical Paper 2001-01-0799, 2001, https://doi.org/10.4271/2001-01-0799.Also In
Intelligent Vehicle Initiative (Ivi) Technology and Navigation Systems
Number: SP-1593; Published: 2001-03-05
Number: SP-1593; Published: 2001-03-05
SAE 2001 Transactions Journal of Passenger Cars - Electronic and Electrical Systems
Number: V110-7; Published: 2002-09-15
Number: V110-7; Published: 2002-09-15
References
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- Takagi, M Shimoda, H 1991 “Handbook of Image Analysis,” The University of Tokyo Publishing Society 550 564
- Duda, R., et al 1972 “Use of the Hough transformation to detect lines and curves in pictures,” Communications of ACM 15 11 15
- Nagashima, H. 1989 “Numerical Methods,” Maki Publishing Co. 103 105