To detect the road, unprocessed distance measurements from the laserscanner are used. However, all distance measurements stemming from vehicles on the road have to be removed from the scan in a pre-processing step. After this step the algorithm detects scan points resulting from the road boundaries and calculates the width and curvature of the road. A new strategy combining three approaches to perform lane detection based on laserscanner data is presented. These approaches are based on detection of the lane markings, interpretation of measurements at the road boundary or analysis of the trajectory of the other road users, for the period of medium or high volume of traffic. Combining these approaches a reliable position within the lane can be generated to generate information for applications like Lane Departure Warning. This application is possible in addition to Automatic Emergency Braking, PreCrash, ACC Stop and Go or Pedestrian Protection using a single laserscanner.
Lane estimation and departure warning using multilayer laserscanner
Spurwegschätzung und Warnung beim Verlassen der Fahrspur mit Hilfe eines Mehschicht-Laserabtastsystems
2005
5 Seiten, 8 Bilder, 3 Quellen
Conference paper
English
Lane Estimation and Departure Warning using Multilayer Laserscanner
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