| SENSOR FUSION-BASED LANE DETECTION FOR LKS+ACC SYSTEM |
| H. G. JUNG1, Y. H. LEE1, H. J. KANG1, J. KIM2 |
1MANDO Corporation
2Yonsei University |
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| ABSTRACT |
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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. |
| Key Words:
Lane detection, Sensor fusion, Lane keeping system, Adaptive cruise system |
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