Lane marks are an important aspect for autonomous driving. Autonomous vehicles rely on lane mark information to determine a safe and legal path to drive. In this paper an approach to estimate lane lines on straight or slightly curved roads using a LiDAR unit for autonomous vehicles is presented. By comparing the difference in elevation of LiDAR channels, a drivable region is defined. The presented approach used in this paper differs from previous LiDAR lane line detection methods by reducing the drivable region from three to two dimensions exploring only the x-y trace. In addition, potential lane markings are extracted by filtering a range of intensity values as opposed to the traditional approach of comparing neighboring intensity values. Further, by calculating the standard deviation of the potential lane markings in the y-axis, the data can be further refined to specific points of interest. By applying a statistical approximation, to these points of interest, the results given show a linear approximation of the lane lines.
Lane Line Detection by LiDAR Intensity Value Interpolation
Sae Int. J. Adv. and Curr. Prac. in Mobility
SAE Student/Young Professional Technical Paper Competition ; 2019
Sae International Journal of Advances and Current Practices in Mobility ; 2 , 2 ; 939-944
2019-10-22
6 pages
Conference paper
English
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