Lane detection and tracking by video sensors

Describes a video sensor system for vehicle environment sensing. The system comprises a high dynamic range CMOS camera, dedicated image evaluation circuitry and image processing software for capturing vehicle environment data. The main part of the paper is concerned with the description of a real-time lane detection and tracking algorithm which is able to determine the course of the road ahead of the vehicle together with the position of the vehicle relative to the road with high accuracy. The key feature of the presented system is its ability to adapt to nearly all weather conditions and road types without any external adjustments together with its self-assessment capabilities, both of which are crucial for automotive applications