This paper describes an image processing system for tracking a traffic lane by recognizing white lines on the road ahead. The system utilizes the features of the white lines and the Hough transformation to detect white line candidate points in images taken with a CCD camera. The parameters of the road configuration and vehicle attitude are estimated with an extended Kalman filter. This system has been applied to achieve a lane-keeping assistance system that provides steering control based on the host vehicle’s lateral position in its lane.
Estimation of Road Configuration and Vehicle Attitude by Lane Detection for a Lane-Keeping System
Sae Technical Papers
SAE 2001 World Congress ; 2001
2001-03-05
Conference paper
English
Estimation of Road Configuration and Vehicle Attitude by Lane Detection for a Lane-Keeping System
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