A Camera-IMU Sensor Fusion for Robust Lane Information on Lateral Control System

Robust lane information is critical for lateral control system. It brings possibilities for control system to operate in strict conditions such as no lane mark detected and fuzzy lane mark because of camera limit. Also, due to the time-consuming image processing, the sample rate of lane information is always so low for control systems to make precise control. In order to deal with the problems mentioned above, IMU dynamic information is adopted and fused with the lane information from camera as a new method. It provides instant and more robust lane information for the lateral control system to operate beyond the limits of camera. A Model-in-the-loop(MiL) simulation based on PreScan-CarSim integration is built up to evaluate the performance of the proposed method. A comparison on Lane Following System(LFS) with/without sensor fusion when temporal failure of lane information occurs is made. It approves that the proposed method successfully provides accurate high sample-rated lane information and have LFS control the vehicle to travel inside the lane with less lateral deviation.