Title :
Lane keeping based on location technology
Author :
Wang, Jin ; Schroedl, Stefan ; Mezger, Klaus ; Ortloff, Roland ; Joos, Armin ; Passegger, Thomas
Author_Institution :
DaimlerChrysler Res. & Technol. North America, Palo Alto, CA, USA
Abstract :
Vehicle positioning with an accuracy of 10 cm or less will enable lane-keeping assistance in addition to other safety benefits when an enhanced lane-level digital map is in place. With constantly evolving technology and sensors, a high-precision positioning system that fits into the automotive market can be expected within the next decade. Such a system will incorporate Global Positioning System (GPS) and inertial system (INS) for enhanced positioning performance and availability. In this paper, the technology fields that will have a significant impact on the deployment of a centimeter-level vehicle-positioning system will be discussed. Vision-based lane-recognition (VBLR) systems are relatively mature and have already been introduced to the market for lane-departure warning, etc. However, both systems have some limitations. GPS/INS-based systems may suffer from frequent satellite signal masking or blockage, while vision-based systems do not work well in adverse weather conditions or with poor lane signature. Effectively combining these two technologies can make a robust lane-departure warning system. A precision map was made for the test area near Stuttgart using DaimlerChrysler Research and Technology North America (RTNA)´s map-making approach. A Mercedes S-class equipped with both a vision system and a high-precision GPS/INS was used for the test. The positioning map-matching results and the vision offset are compared and the complementary effectiveness is illustrated.
Keywords :
Global Positioning System; computer vision; image recognition; inertial systems; position control; road safety; DaimlerChrysler Research and Technology North America; Global Positioning System; Mercedes S-class; centimeter-level vehicle-positioning system; high-precision positioning system; inertial system; lane-keeping assistance; location technology; map-making approach; robust lane-departure warning system; satellite signal blockage; satellite signal masking; vehicle positioning; vision-based lane-recognition; Alarm systems; Automotive engineering; Availability; Global Positioning System; North America; Robustness; Satellites; Sensor systems; Testing; Vehicle safety; Global Positioning System (GPS); map; vehicle model; vision system;
Journal_Title :
Intelligent Transportation Systems, IEEE Transactions on
DOI :
10.1109/TITS.2005.853701