Lane following combining vision and DGPS

摘要

A real-time system forcusing 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-sate of the vehicle as well 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.