Virtual Mid-Line Detection on Curve Road for User Guidance Using Simulation Model

This paper describes the development of a mid-line detection system on curve road as guidance for drivers to stay center in road-lane they are currently on using simulation model. The system will identify the curve road and detecting the tangent for each segmented curve. The purpose of detecting the tangent is to find a point that is normal to tangent of the curve. Then, using pixel distance calculation, we can get a mid-point for the curve road in order to detect and draw a virtual mid-line. This mid-line will be the guidance for the drivers to stay center when driving on the curve road. As a safety measure, the system will notify the driver with a warning message if the vehicle goes off the lane. Yet, if the driver decided to change lane, the system will automatically update the new detection on left and right boundaries. The warning message will turn off once it gets back on track. In this paper, we used B-spline as a base to study the curve behavior from simple to complicated curves. As for the method to measure the curve, we combine several algorithms from B-spline together with generalised Hough transform to determine the transformation parameter and the position of the model in the image. The proposed method gives a unified framework for detecting, refining and tracking the road lane. Experimental result using images of real road scene are presented.