Data fusion algorithms for lane departure warning systems

This paper discusses data-fusion algorithms for computing the “Time-to-Lane-Crossing” (TLC) of a vehicle traveling along a lane on the basis of road images, collected by an on-board video-camera, and kinematic data coming from car sensors. Such algorithms are instrumental to built Lane Departure Warning Systems (LDWS) with enhanced predictive capabilities and tolerant to a certain amount of errors and outliers in video-camera and sensors data flows. Two Kalman filters are outlined and used for data fusion purposes. Simulations within the Carsim® simulation tool have been undertaken to verify the effectiveness of these filters during critical driving scenarios.

[1]  J. C. Gerdes,et al.  Practical Position and Yaw Rate Estimation with GPS and Differential Wheelspeeds , 2022 .

[2]  Edward H. Adelson,et al.  The Design and Use of Steerable Filters , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[3]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[4]  Paul Milgram,et al.  The Development of a Time-Related Measure to Describe Driving Strategy , 1984 .

[5]  Nour-Eddin El Faouzi,et al.  Sensor and Data Fusion , 2012, Handbook of Soft Computing for Video Surveillance.

[6]  Alberto Broggi.  An image reorganization procedure for automotive road following systems , 1995, Proceedings., International Conference on Image Processing.

[7]  Nada Milisavljevic.  Sensor and Data Fusion , 2009 .

[8]  K G Baass,et al.  THE USE OF CLOTHOID TEMPLATES IN HIGHWAY DESIGN , 1984 .

[9]  Mohinder S. Grewal,et al.  Kalman Filtering: Theory and Practice Using MATLAB , 2001 .

[10]  Jeffrey K. Uhlmann,et al.  New extension of the Kalman filter to nonlinear systems , 1997, Defense, Security, and Sensing.

[11]  Paul Wintz,et al.  Digital image processing (2nd ed.) , 1987 .

[12]  Uwe Kiencke,et al.  Observation of Lateral Vehicle Dynamics , 1996 .

[13]  C.R. Jung,et al.  A lane departure warning system based on a linear-parabolic lane model , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[14]  K A Brookhuis,et al.  A comparison of different ways to approximate time-to-line crossing (TLC) during car driving. , 2000, Accident; analysis and prevention.

[15]  Huei Peng,et al.  A study on lateral speed estimation methods , 2004 .

[16]  Joon Woong Lee,et al.  A Machine Vision System for Lane-Departure Detection , 2002, Comput. Vis. Image Underst..

[17]  Massachusetts. Parole Board..  Annual Statistical Report (2008) , 2007 .

[18]  J.C. Becker,et al.  Performance evaluation of automotive sensor data fusion , 2005, Proceedings. 2005 IEEE Intelligent Transportation Systems, 2005..