An embedded real-time automatic lane-keeping system

  • Authors:

  • Salvatore Vitabile;Salvatore Bono;Filippo Sorbello

  • Affiliations:

  • Dipartimento di Biotecnologie Mediche e Medicina Legale, Università degli Studi di Palermo, Palermo, Italy;Dipartimento di Ingegneria Informatica, Università degli Studi di Palermo, Palermo, Italy;Dipartimento di Ingegneria Informatica, Università degli Studi di Palermo, Palermo, Italy

  • Venue:
  • KES'07/WIRN'07 Proceedings of the 11th international conference, KES 2007 and XVII Italian workshop on neural networks conference on Knowledge-based intelligent information and engineering systems: Part I
  • Year:
  • 2007

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Abstract

Advanced Driver Assistance Systems (ADAS) are safety systems capable of identifying an unavoidable dangerous scenario and reacting coherently. An automatic lane-keeping system is designed to prevent dangerous events when the driver left inadvertently his/her own lane. In this paper a real-time automatic lane-keeping system is proposed. The main features of the system are the lane markers location process as well as the generation of the vehicle's steering angle. The system has been prototyped using the Celoxica RC203 board, equipped with a Xilinx Virtex II FPGA, for real-time processing of real motorway scenes coming from a CCD camera on a moving vehicle. The required processing time is 25,521 ms per frame, so that the system could process 39 frames/sec. Vehicle's steering angle is computed with good approximation.