Lane following combining vision and DGPS

被引：48

作者：

Goldbeck, J

Huertgen, B

Ernst, S

Kelch, L

机构：

[1] Robert Bosch GmbH, FV SLH, D-31132 Hildesheim, Germany

[2] Tech Univ Carolo Wilhelmina Braunschweig, Inst Flight Guidance & Control, D-38106 Braunschweig, Germany

来源：

IMAGE AND VISION COMPUTING | 2000年 / 18卷 / 05期

关键词：

video sensor; robust estimation; lane border detection; satellite navigation; inertial navigation system;

D O I：

10.1016/S0262-8856(99)00037-2

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A real-time system focusing on lane sensing for autonomous vehicle guidance is described which runs on commercial hardware. For safe and comfortable vehicle control even on winding roads with bumpy surfaces, the ego-state of the vehicle as well as lane geometry needs to be known. This information is needed with high precision and reliability. For the sake of safety, two redundant sensor systems are employed. The first is a video camera that tracks visual lane boundaries such as white or yellow road markers. The second is a high precision location system using DGPS (Differential Global Positioning System) combined with an INS (Inertial Navigation System) for ego-state recognition. The achieved information is related to a high precision digital map. (C) 2000 Elsevier Science B.V. All rights reserved.

引用

页码：425 / 433

页数：9

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