Self-calibrated multiple-lane detection system

We presented a multiple-lane detection system in this paper. To cope with both straight and curved road, the system recognized the road type based on the vehicle´s GPS position and digital map data, and designated different schemes for detection. Unlike the known systems that have treated lane marking as a single entity, this system focused on the inner edge of the stripe to locate a vehicle in a lane accurately. The camera´s installation parameters, especially the pitch angle, were estimated using the real-time detection results to compensate for changes in the vehicle´s pose. Using an “estimate-detect” style, adjacent-lane markings were detected even when they were partly blocked by other vehicles.