Abstract
Vision-based Lane departure warning system (LDWS) has been widely used in modern vehicles to improve drivability and safety. In this paper, a novel LDWS with precise positioning is proposed. Calibration strategy is first presented through a 3D camera imaging model with only three parallel and equally spaced lines, where the three angles of rotation for the transformation from the camera coordinate system to the world coordinate system are deduced. Then camera height is calculated compared to the previous works using a measured one with potential errors. A criterion for lane departure warning with only one of the two lane-markings is proposed to estimate both yaw angle and distance between the lane-markings and the vehicle. Experiments show that calibration strategy can be easily set up and achieve an average of 98.95% accuracy on the lane departure assessment.
Highlights
An example of research in Safety Driving Assist System (SDAS) is a model constructed by Wang et al [2] based on the host–target vehicle dynamics and road constraints to estimate the lateral motion of the preceding target vehicles
As an important part of SDAS, the lane departure warning system (LDWS) is designed to warn the drivers when the vehicles tend to deviate from their lanes, effectively preventing traffic accidents which are mostly out of driver’s inattention or lack of experience
We propose a new algorithm of LDWS of the second type, which involves easy calibration and warning processes with only one of the two-lane markings
Summary
Mobility plays an important role in modern society, and it provides a high quality life for humans. According to WHO, tens of millions of people are injured or disabled because of road accidents [1], making the Safety Driving Assist System (SDAS). An example of research in SDAS is a model constructed by Wang et al [2] based on the host–target vehicle dynamics and road constraints to estimate the lateral motion of the preceding target vehicles. As an important part of SDAS, the lane departure warning system (LDWS) is designed to warn the drivers when the vehicles tend to deviate from their lanes, effectively preventing traffic accidents which are mostly out of driver’s inattention or lack of experience
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