Design of lane keeping assist system for autonomous vehicles

Lane detection and tracking and departure warning systems are important components of Intelligent Transportation Systems. They have particularly attracted great interest from industry and academia. Many architectures and commercial systems have been proposed in the literature. In this paper, we discuss the design of such systems regarding the following stages: pre-processing, detection, and tracking. For each stage, a short description of its working principle as well as their advantages and shortcomings are introduced. Our paper may possibly help in designing new systems that overcome and improve the shortcomings of current architectures.