Lane keeping based on location technology
IEEE Transactions on Intelligent Transportation Systems
Vehicle and Guard Rail Detection Using Radar and Vision Data Fusion
IEEE Transactions on Intelligent Transportation Systems
A sensor fusion framework using multiple particle filters for video-based navigation
IEEE Transactions on Intelligent Transportation Systems
A situation-adaptive lane-keeping support system: overview of the SAFELANE approach
IEEE Transactions on Intelligent Transportation Systems
Modeling the stochastic drift of a MEMS-based gyroscope in gyro/odometer/GPS integrated navigation
IEEE Transactions on Intelligent Transportation Systems
A pattern-recognition approach for driving skill characterization
IEEE Transactions on Intelligent Transportation Systems
Distributed wireless sensing-based routing and adaptive least-travel-time navigation in VANET
International Journal of Ad Hoc and Ubiquitous Computing
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The responsibility of a vision-based lane departure warning (LDW) system is to alert a driver of an unintended lane departure. Because these systems solely rely on the vision sensor's ability to detect the lane markings on the roadway, these systems are extremely sensitive to the roadway conditions. When a vehicle's LDW system fails to detect lane markers on the roadway, it loses its ability to alert the driver of an unintended lane departure. The goal of this research is to use GPS combined with inertial sensors and a high-accuracy map to assist a vision-based LDW system. GPS navigation systems are available in many automobiles, along with automotive-grade inertial sensors. The low accuracy of a typical GPS receiver found in an automotive navigation system is largely attributed to a position error. This error is too large to allow the GPS receiver to locate a vehicle in a particular lane on a roadway. A method to measure this error using a vision-based LDW system, together with a high-accuracy map, is presented in this paper. With the error known, the accuracy of the GPS receiver is increased to a high-enough level to localize the vehicle on a particular lane. Next, a method fusing GPS/inertial navigation sensor/vision and a high-accuracy map for highway lane tracking is presented. This method provides a backup lateral offset measurement that can be used for LDW when the LDW vision system loses track of the lane markings.