Title :
Lane Keeping System Based on THASV-II Platform
Author :
Lei, Guo ; Jianqiang, Wang ; Keqiang, Li
Author_Institution :
Tsinghua Univ., Beijing
Abstract :
A lane keeping system is designed and realized based on the second generation of Tsinghua active safety vehicle platform (THASV-II). The system integrates the lane detection and vehicle detection in the driving environment sensing module to improve the anti-disturbance ability of the lane detection. The image information captured by monocular vision and the obstacles data obtained by lidar are fused to recognize vehicles; a lane detection method based on the points set optimization is proposed. A preview PID controller is designed for the lateral control. Experiments of vehicle detection, lane detection and lane keeping are carried out on the THASV-II platform.
Keywords :
automated highways; computer vision; image fusion; image recognition; optical radar; optimisation; road safety; road vehicles; three-term control; PID controller; THASV-II platform; Tsinghua active safety vehicle platform; anti-disturbance ability; driving environment sensing module; image fusion; image recognition; lane keeping system; lateral control; lidar; monocular vision; point set optimization; vehicle detection; Actuators; Alarm systems; Automotive engineering; Educational institutions; Intelligent vehicles; Laboratories; Laser radar; Testing; Vehicle detection; Vehicle safety; Active safety vehicle; lane detection; lane keeping system; vehicle detection;
Conference_Titel :
Vehicular Electronics and Safety, 2006. ICVES 2006. IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0759-1
Electronic_ISBN :
1-4244-0759-1
DOI :
10.1109/ICVES.2006.371604
