Recognition of Road Contours Based on Extraction of 3D Positions of Delineators

Drivers of vehicles focus their gaze in the direction of movement, try to assess the contours of the road ahead, and try to avoid imminent hazards by steering or braking. However, driving at night is risky since the range illuminated by the headlights and that of visibility is poor. This paper proposes a system that assists the driver by indicating the curves of the road ahead at night. Their curves are estimated from the 3D positions of delineators located on the sides of roads, which are extracted using a circle detection filter. We demonstrated that it was possible to indicate the curves of the road in a simulation experiment.