Lane detection is a critical part of autonomous driving technology. When difficult situations are encountered (i.e., adverse light, severe occlusion), the lane detection task is still challenging. However, previous methods strongly depend on the extracted image features and ignore other features. It is necessary to consider the information from other modalities to assist the model for lane detection, especially in the task of curved lane detection. In this paper, considering that the vehicle steering angle is closely related to the visual feature of lane lines, we propose a novel model named Image-Angle Fusion Network (IAFNet) to solve the lane detection problem by fusing vehicle steering angle features with image features. To make the steering angle features better match the image features, we use the tensor outer product to extend the dimensionality of the steering angle information. A lightweight Image-Angle cross-attention module (LIA-CAM) is proposed to learn the implicit relationship between steering angles and visual features of lane lines, aimed at improving the performance of our model in difficult situations. To guide the network to retain the correct steering angle information, we introduced regression prediction loss of steering angle. Besides, we also released a new dataset based on the Udacity dataset: ImageAngle-Udacity (IA-Udacity) dataset. Extensive experiments on the IA-Udacity dataset show that our method outperforms the current state-of-the-art methods showing both higher efficiency and accuracy. Code and data are available on https://github.com/gongyan1/LIA-CAM.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Steering Angle-Guided Multimodal Fusion Lane Detection for Autonomous Driving


    Contributors:
    Gong, Yan (author) / Zhang, Xinyu (author) / Lu, Jianli (author) / Jiang, Xinmin (author) / Wang, Zichen (author) / Liu, Hao (author) / Li, Zhiwei (author) / Wang, Li (author) / Yang, Qingshan (author) / Wu, Xingang (author)


    Publication date :

    2025-02-01


    Size :

    1707264 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Lane Detection and Steering Control of Autonomous Vehicle

    D, Sharmitha / P, Thirumoorthi | IEEE | 2022


    GPS-guided Vision-based Lane Detection for Autonomous Vehicles

    Getahun, Tesfamchael / Karimoddini, Ali | IEEE | 2023


    Driving steering axle with large steering angle

    TENG KEHUAN | European Patent Office | 2021

    Free access

    AUTONOMOUS DRIVING SYSTEM AND AUTONOMOUS STEERING APPARATUS

    CHOI SEONG JAE / KWON JIN U | European Patent Office | 2021

    Free access

    LaneNet: Real-Time Lane Detection Networks for Autonomous Driving

    Wang, Ze / Ren, Weiqiang / Qiu, Qiang | ArXiv | 2018

    Free access