Abstract
For the lane departure warning system or the lane keeping system, it is important to detect lane lines stably in images from vehicle onboard cameras. We have developed the lane line detection system for platooning. This system can detect various kinds of lane markings stably and robustly because it uses a multi-information map containing road marking information, such as a kind of road marking, the width of a lane line or degree of blur, to detect lane markings. A multi-information map is tied to position data obtained from GPS system. Therefore, a vehicle can obtain information about lane markings to detect at the present position from a multi-information map. This paper proposes the method to construct a multi-information map automatically by recognizing road markings in images from an onboard front camera. Input images are transformed to inverse perspective projection images. In these transformed images, seven features are extracted to discriminate road markings. Experiments conducted in real road scenes show the effectiveness of the proposed method for constructing a multi-information map.
