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Development of a Lane mark Recognition System for a Lane Keeping Assist System

Article of Honda R&D Technical Review Vol.12 No.1

Summary

A lane mark recognition system that processes images taken by a camera for a Lane Keeping Assist System (LKAS) has been developed. This system is a main component of the Honda Intelligent Driver Support System. This system uses a new algorithm that is a combination of Hough transformation and the process of extracting positive and negative edges which are features of lane marks. By employing this algorithm, we can remove noise and execute high speed image processing with a special chip. As a result, we can process images in real time even in such complex situation as a parting road or double broken line conditions.
In experiments on real images, we were able to verify a high rate of recognition and accuracy of output data sufficient for steering control.

Reference

(1) Yasuhiko Fujita, Hayato Kikuchi, Shigenori Ogino, Seiji Ohsaki: Development of Intelligent Highway Cruise Control, Proc. of JSAE No.114-99, p.13-16(1999) (Written in Japanese)
(2) Duda, R., et.al: Use of the Hough transformation to detect lines and curves in pictures, Communication of ACM, Vol.15, p.11-15(1972)
(3) Ballard, D., Brown, C.: Computer Vision, Nihon Computer Kyoukai, Tokyo, p.147-160 (Written in Japanese)
(4) Suzuki, A., et.al.: Lane Recognition System for Guiding of Autonomous Vehicle, IEEE Intelligent Vehicle ’92, p.196-201(1992)
(5) Hashimoto, K., et.al.: An Image Processing Architecture and a Motion Control Method for an Autonomous Vehicle , IEEE Intelligent Vehicle ’92, p.213-218(1992)

Author (organization or company)

Kenichi MINETA(Tochigi R&D Center)、Kiyozumi UNOURA(Tochigi R&D Center)、Tetsuo IKEDA(Tochigi R&D Center)

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