Integrity Monitoring of Vision-Based Automotive Lane Detection Methods

C. Mario, J. Rife

Abstract: Lane Departure Warning (LDW) systems have recently been implemented as an added safety feature in luxury cars. In the near future, LDW systems could be adapted to enable fully automated driving. However, integrity monitoring will be essential since no human driver will be “in the loop” to interpret sensor anomalies. Such anomalies may occur, for instance, when lane lines are absent, of poor quality, or obscured by fog. This paper introduces an integrity monitoring strategy for camera-based LDW that identifies anomalies by comparing two distinct vision processing algorithms. The first is an existing algorithm [1] that fits a linear-parabolic model to lane boundaries. The second is an algorithm which uses optical flow to verify these boundaries. Using video data collected on urban roadways, we demonstrate the potential benefits of our method and the need for further research to reduce its rate of false alarms.
Published in: Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010)
September 21 - 24, 2010
Oregon Convention Center, Portland, Oregon
Portland, OR
Pages: 245 - 255
Cite this article: Mario, C., Rife, J., "Integrity Monitoring of Vision-Based Automotive Lane Detection Methods," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 245-255.
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