Vehicle lane detection and following based on vision system and laser scanner

The road lane detection technique is developed based on an on-board PC-based vision system. Different image processing techniques were adopted to find out the lane relative location on camera image, This lane information is integrated with vehicle frontal view laser scanning information to plan the vehicle moving path based on cubic-spline trajectory planning and generate the vehicle steering angle command on-line as an advanced driving assistance system. These lane and obstacle detection system are installed on a four wheel motors electric model vehicle with embedded FPGA control structure for experimental tests on campus sport field.