Reliable information about the lanes, in which the ego-vehicle and other road users are presently driving, is one of the crucial factors for future driver assistant and safety systems. It allows a localisation of the ego-vehicle in the lane, which is necessary for lane departure warning. The localisation of other road users with respect to the ego-vehicles lane is also mandatory to assess the hazard of driving situations, e.g. the detection of cut-ins. Although future digital maps will include more detailed information on road construction and lanes, a self localisation based on onboard sensors is still worthwhile to overcome the limitations of DGPS with respect to position accuracy or temporal changes in map data due to road works. Scanning LIDAR sensors (Laserscanners) measure a precise range profile of their environment. As a consequence, they are well qualified for automotive applications like Pre-Crash, AEB or Pedestrian Protection, where moving objects must be detected and tracked with high reliability and their geometrical dimension should be known. Moreover, laserscanners are able to determine the different reflectivity's of object surfaces which allows for the differentiation between lane markers on the road and road surface. These sensory features initiated investigations on roadway detection and lane detection using a laserscanner without an additional video sensor. A special multilayer laserscanner prototype has been developed for this purpose. The roadway detection is based on an identification of changes in the distance profiles pattern at the borders of roadways. The lane detection makes use of the differential reflectivity of lane markings and road surface. The lane detection operates within a distance range of 4m up to 30m and has been tested on highway scenarios. This paper presents algorithms for roadway and lane detection as well as first results achieved with the prototype sensor setup.


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    Titel :

    Roadway detection and lane detection using multilayer laserscanner


    Weitere Titelangaben:

    Fahrbahn- und Spurerkennung mit Hilfe eines Mehrschichten-Laserscanners


    Beteiligte:
    Dietmayer, Klaus (Autor:in) / Kämpchen, Nico (Autor:in) / Fürstenberg, Kay (Autor:in) / Kibbel, Jörg (Autor:in) / Justus, Winfried (Autor:in) / Schulz, Roland (Autor:in)


    Erscheinungsdatum :

    2005


    Format / Umfang :

    17 Seiten, 14 Bilder, 8 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Roadway Detection and Lane Detection using Multilayer Laserscanner

    Dietmayer, K. / Kampchen, N. / Furstenberg, K. et al. | British Library Conference Proceedings | 2005


    Lane Detection and Departure Warning Using Multilayer Laserscanner

    Kibbel, J. / Justus, W. / IEEE | British Library Conference Proceedings | 2005


    Lane estimation and departure warning using multilayer laserscanner

    Kibbel, Jörg / Justus, Winfried / Fürstenberg, Kay | Tema Archiv | 2005


    Lane Estimation and Departure Warning using Multilayer Laserscanner

    Kibbel, J. / Justus, W. / Furstenberg, K. et al. | British Library Conference Proceedings | 2005


    Lane estimation and departure warning using multilayer laserscanner

    Kibbel, J. / Justus, W. / Furstenberg, K. | IEEE | 2005