Lateral position detection using side looking line sensor cameras

In this paper we propose a new method for detecting lateral position using on-board side looking line sensor cameras. The line sensor is aligned perpendicular to the vehicle longitudinal direction. We detect relative vehicle position to the lane marker from the lane marker position in each line image. To detect vehicle direction, we use two line sensor cameras, each looking for both side. We installed two line sensor cameras on the roof of an ordinary passenger vehicle. Real road experiments show the usefulness of the proposed method in position and direction detection.