In this paper, we investigate a vision-based approach for online lane change prediction and detection dedicated Powered Two-Wheeled Vehicles. The approach is composed of two steps. First, the road geometry (clothoid model) and the motorcycle position with respect to the road markers are deduced based an inverse perspective mapping algorithm. The relative position is represented by the vehicle lateral displacement and heading estimated by means of an Inertial Measurement Unit and a monocular camera. The second step consists of predicting the Lane Crossing Point which allows to predict the distance and time before the motorcycle crosses the lane. The algorithm is achieved without the use of any steering sensor.To assess the effectiveness of the proposed approach, the estimation and the prediction schemes are validated on the BikeSim framework. To this end, two scenarios are discussed : 1- straight road with non-zero relative heading, and 2- curved road and circular vehicle trajectory.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Vision-Based Lane Crossing Point Tracking for Motorcycles


    Beteiligte:


    Erscheinungsdatum :

    2019-10-01


    Format / Umfang :

    1008736 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Design of lane tracking controller for motorcycles

    Katagiri, N. / Marumo, Y. / Tsunashima, H. | Tema Archiv | 2007


    Detection of lane-splitting motorcycles

    SHANT TOKATYAN / SHOUNAK ATHAVALE | Europäisches Patentamt | 2018

    Freier Zugriff

    Lane Tracking Control for Motorcycles by Considering Vehicle Dynamics

    Marumo, Y. / Katagiri, N. / Tsunashima, H. et al. | British Library Conference Proceedings | 2007


    Facilitating Lane-Splitting By Motorcycles

    NELSON ZACHARY DAVID | Europäisches Patentamt | 2018

    Freier Zugriff

    Detection of lane-splitting motorcycles

    JINESH J JAIN / HARPREETSINGH BANVAIT / KYU JEONG HAN | Europäisches Patentamt | 2017

    Freier Zugriff