Development of Lane estimator using the vehicle's kinematic motion

Abstract

The current Lane keeping assist system(LKAS) and Lane centering control(LCC) systems should detect lane markings and maintain the vehicle within host lane or at the center of the host lane, without driver's steering control. These system is used a front camera sensor that is noisy or incomplete observations of lane information because of back light, differences in illumination, loss of lane markings and camera system's failure. A frequent cancelation due to incomplete observations of camera sensor gives a lot of inconvenience to drivers. In this paper, we suggest the lane estimator using vehicle kinematic motion in order to prevent a frequent cancelation of system.