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This paper describes a vision based robust lane keeping system which warns the driver of inattentively drifting off the lane in such a way as to keep the vehicle in the lane. The overview of the lane keeping system mounted on the automobile is presented. A novel sensor fusion algorithm is proposed to estimate the vehicle pose and lane geometry data so as to detect an unintended lane departure. The performance criteria of decision making strategies of the lane keeping system are proposed as: 1) false alarm rate, and 2) alarm triggering time. Two heuristic decision making strategies of the lane keeping system are provided with experimental results evaluating the performance of each strategy.