Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Lane-Departure Identification Based on Linear Regression and Symmetry of Lane-Related Parameters

차선관련 파라미터의 대칭성과 선형회귀에 기반한 차선이탈 인식

  • 이운근 (부산경상대학 소방안전관리과) ;
  • 이준웅 (전남대학교 산업공학과)
  • Published : 2005.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a lane-departure identification (LDI) algorithm for a traveling vehicle on a structured road. The algorithm makes up for the weak points of the former method based on EDF[1] by introducing a Lane Boundary Pixel Extractor (LBPE), the well known Hough transform, and liner regression. As a filter to extract pixels expected to be on lane boundaries, the LBPE plays an important role in enhancing the robustness of LDI. Utilizing the pixels from the LBPE the Hough transform provides the lane-related parameters composed of orientation and distance, which are used in the LDI. The proposed LDI is based on the fact the lane-related parameters of left and right lane boundaries are symmetrical as for as the optical axis of a camera mounted on a vehicle is coincident with the center of lane; as the axis deviates from the center of lane, the symmetrical property is correspondingly lessened. In addition, the LDI exploits a linear regression of the lane-related parameters of a series of successive images. It plays the key role of determining the trend of a vehicle's traveling direction and minimizing the noise effect. Except for the two lane-related parameters, the proposed algorithm does not use other information such as lane width, a curvature, time to lane crossing, and of feet between the center of a lane and the optical axis of a camera. The system performed successfully under various degrees of illumination and on various road types.

Keywords

References

  1. J. W. Lee, 'A machine vision system for lane-departure detection', CVIU, vol. 86, pp. 52-78, 2002 https://doi.org/10.1006/cviu.2002.0958
  2. J. W. Lee, C. D. Kee and U. K. Yi, 'A new approach for lane departure identification', Proc. IEEE Intelligent Vehicles 03, pp. 100-105, 2003 https://doi.org/10.1109/IVS.2003.1212891
  3. D. A. Pomerleau and T. Jochem, 'Rapidly adapting machine vision for automated vehicle steering', IEEE Expert Intelligent Systems and Their App., April, pp. 19-27, 1996 https://doi.org/10.1109/64.491277
  4. E. D. Dickmanns and A. Zapp, 'Autonomous high speed road vehicle guidance by computer vision', Proc. IFAC 10th Triennial World Congress, pp. 221-226, 1987
  5. J. W. Lee, U. K. Lee, and K. R. Baek, 'A cumulative distribution function of edge direction for road lane detection', IEICE, vol. E84-D, no. 9, pp. 1206-1216, 2001
  6. J. D. Crisman and C. E. Thorpe, 'SCARF: a color vision system that tracks roads and intersections', IEEE Trans. Robotics Automat. vol. 9, no. 1, pp. 49-58, 1993 https://doi.org/10.1109/70.210794
  7. J. H. Seo, H. C. An, S. S. Jeong and Y. G. Kong, 'Development of lane deviation warning and preventing system through vision system and steering control', 98 Seoul ITS Congress, CD-Rom, 98
  8. K. Sato, T. Goto and Y. Kubota, 'A study on a lane departure warning system using a steering torque as a warning signal', Proc. AVEC' 98, pp. 479-484, 1998
  9. M. Brattoli, R. Tasca, A. Tomasini, E. Chioffi, D. Gerna and M. Pasotti, 'A vision-based alert system', Proc. IEEE Intelligent Vehicles 96, pp. 195-200, 1996 https://doi.org/10.1109/IVS.1996.566377
  10. J. W. Lee, K. S. Kim, S. S, Jeong, Y. W. Jeon, 'Lane departure warning system: its logic and on-board equipment (20005331)', Proc. JSAE, Japan, pp. 9-11, 2000
  11. R. G. Gonzalez and R. E. Woods, Digital Image Processing, Addison-Wesley, 1992
  12. C. R. Hicks and K. V. Turner, Fundamental Concepts in the Design of Experiments, Oxford University Press, 1999
  13. K. Yamada, T. Nakano and S. Yamamoto, 'A vision sensor having an expanded dynamic range for autonomous vehicles', IEEE Trans. On Vehicular Tech., vol. 47, no. 1, pp. 332-341, 1998 https://doi.org/10.1109/25.661058