Detection of Lane Departure on High-Speed RoadsDavid Hanwell, Majid Mirmehdi, Detection of Lane Departure on High-Speed Roads. Proceedings of the First International Conference on Pattern Recpgnition, Applications and Methods. ISBN 978-989-8425-98-0, pp. 529–536. February 2012. PDF, 746 Kbytes.
We present a system for detecting and tracking the lanes of high-speed roads, in order to warn the driver of accidental lane departures. The proposed method introduces a novel variant of the classic Hough transform, better equipped to detect and locate linear road markings with a common vanishing point. This is combined with a simple model of the lane and an Extended Kalman Filter to make detection and tracking more robust. This allows detection of lane changes, resistant to visual interference by traffic and irrelevant road markings.