This paper presents a new real time lane detection and tracking system which succeeds in sharp curved roads. The Warp Perspective Mapping (WPM) method was used to change the video image perspective to top view. A two dimensional Gabor filter and vertical pixel density calculation method was used to find initial lane regions. Second derivative approach of Composite Bezier spline fitting method calculates the exact coordinates of the control points. Score function based on pixel matching was used for determining lanes in curved roads. A template lane matching method with ease of implementation was used for tracking the detected lanes. The proposed system was tested using offline and real time hardware-in-the-loop simulations. The detected and tracked lane information is used in a lane keeping control system, realized in a hardware-in-the-loop setting. The high fidelity, high order, realistic and nonlinear vehicle model in Carmaker HIL is used in hardware-in-the-loop testing. The lane keeping controller works as code in a dSpace microautobox general purpose electronic control unit which obtains the lane data from the vision system running on a laptop PC and Carmaker vehicle data from a dSpace compact simulator for calculating the required steering actions. The system performance was evaluated on different scenarios which contain straight and sharp curved roads, obstacle vehicles and different lane marking types. Average success rate is calculated as % 98.7.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real time lane detection and tracking system evaluated in a hardware-in-the-loop simulator


    Contributors:
    Coşkun, F (author) / Tunçer, O (author) / Karsligil, M E (author) / Güvenç, L (author)


    Publication date :

    2010-09-01


    Size :

    1125688 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Real-time vehicle and lane detection with embedded hardware

    Kaszubiak, J. / Tornow, M. / Kuhn, R.W. et al. | IEEE | 2005


    A real-time hardware-in-the-loop vehicle simulator for traction assist

    Alles,S. / Swick,C. / Hoffman,M. et al. | Automotive engineering | 1994


    Real-Time Vehicle and Lane Detection with Embedded Hardware

    Kaszubiak, J. / Tornow, M. / Kuhn, R. W. et al. | British Library Conference Proceedings | 2005


    A real-time hardware-in-the-loop vehicle simulator for traction assist

    Alles, S. / Swick, C. / Hoffmann, M. et al. | Tema Archive | 1994