AVM / LiDAR sensor based lane marking detection method for automated driving on complex urban roads

摘要

This paper proposes a lane marking detection method for automated driving in complex urban roads to be used with map-matching localization algorithms. First, a LiDAR based lane detection and map matching algorithm is explained and a lane marking detection algorithm using AVM (Around View Monitor) cameras is presented. The AVM camera based lane marking detection algorithm includes camera calibration, bird-eye view conversion, and lane marking detection. The two lane detection methods are combined and implemented as a part of a map-matching localization algorithm on an autonomous test vehicle. Multiple experiments on various test routes, including complex situations like driver's license exam stations, were performed to verify the performance of the lane marking detection in the map-matching algorithm.