Three-feature based automatic lane detection algorithm (TFALDA) is a new lane detection algorithm which is simple, robust, and efficient, thus suitable for real-time processing in cluttered road environments without a priori knowledge on them. Three features of a lane boundary - starting position, direction (or orientation), and its gray-level intensity features comprising a lane vector are obtained via simple image processing. Out of the many possible lane boundary candidates, the best one is then chosen as the one at a minimum distance from the previous lane vector according to a weighted distance metric in which each feature is assigned a different weight. An evolutionary algorithm then finds the optimal weights for combination of the three features that minimize the rate of detection error. The proposed algorithm was successfully applied to a series of actual road following experiments using the PRV (POSTECH research vehicle) II both on campus roads and nearby highways.


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    Title :

    Three-feature based automatic lane detection algorithm (TFALDA) for autonomous driving


    Contributors:


    Publication date :

    2003-12-01


    Size :

    840790 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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