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Sensor fusion-based lane detection for LKS+ACC system

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Abstract

This paper discusses the market trends and advantages of a safety system integrating LKS (Lane Keeping System) and ACC (Adaptive Cruise Control), referred to as the LKS+ACC system, and proposes a method utilizing the range data from ACC for the sake of lane detection. The overall structure of lane detection is the same as the conventional method using monocular vision: EDF (Edge Distribution Function)-based initialization, sub-ROI (Region Of Interest) for left/right and distance-based layers, steerable filter-based feature extraction, and model fitting in each sub-ROI. The proposed method adds only the system for confining lane detection ROI to free space that is established by range data. Experimental results indicate that such a simple adaptive ROI can overcome occlusion of lane markings and disturbance of neighboring vehicles.

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Correspondence to H. G. Jung.

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Jung, H.G., Lee, Y.H., Kang, H.J. et al. Sensor fusion-based lane detection for LKS+ACC system. Int.J Automot. Technol. 10, 219–228 (2009). https://doi.org/10.1007/s12239-009-0026-0

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  • DOI: https://doi.org/10.1007/s12239-009-0026-0

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