A Lane Detection and Tracking Method for Driver Assistance System

摘要

In driver assistance systems, lane detection and tracking are very crucial treatments to locate the vehicle and to track its position on the road. The aim of this study is to propose lane detection and tracking method. The first step in this method detects road limits on the first acquired image. The detected limits would be the input for the second step, namely the "tracking step", which consists in providing a continuous detection of the limits in all frames by updating the previously detected limits. Lane departure is also analyzed for the lateral control of the vehicle. The approach presented here was tested on video sequences filmed by the authors on Tunisian roads, on a video sequence provided by Daimler AG as well as on the PETS2001 dataset provided by the Essex University.