Sensor fusion-based lane detection for LKS+ACC system |
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Authors: | H G Jung Y H Lee H J Kang J Kim |
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Institution: | (1) MANDO Global R&D H.Q., 413-5 Gomae-dong, Giheung-gu, Yongin-si, Gyeonggi, 446-901, Korea;(2) School of Electrical and Electronic Engineering, Yonsei University, Seoul, 120-749, Korea |
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Abstract: | This paper discusses the market trends and advantages of a safety system integrating LKS (Lane Keeping System) and ACC (Adaptive
Cruise Control), referred to as the LKS+ACC system, and proposes a method utilizing the range data from ACC for the sake of
lane detection. The overall structure of lane detection is the same as the conventional method using monocular vision: EDF
(Edge Distribution Function)-based initialization, sub-ROI (Region Of Interest) for left/right and distance-based layers,
steerable filter-based feature extraction, and model fitting in each sub-ROI. The proposed method adds only the system for
confining lane detection ROI to free space that is established by range data. Experimental results indicate that such a simple
adaptive ROI can overcome occlusion of lane markings and disturbance of neighboring vehicles. |
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Keywords: | Lane detection Sensor fusion Lane keeping system Adaptive cruise system |
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