Iterative road detection based on vehicle speed

摘要

When moving towards fully autonomous navigation, safety plays the most important role for both pedestrian and driver. This paper proposes a method to estimate the lane road region of interest based on the stopping typical distance of a vehicle required by the current speed of the vehicle. This was achieved by taking advantage of the difference in color of the road surface given by the lane marking as well as the pavement road. This method was executed in three main steps. Firstly, a distance estimation method using the vehicle speed was presented. Secondly, a lane marking edge feature extraction method was proposed. Finally, in order to determine the road surface a curve fitting model was implemented. Preliminary results were performed and tested on a group of consecutive frames to prove the effectiveness of the proposed method.