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In this paper an approach to estimate lane lines on straight or slightly curved roads using a LiDAR unit for autonomous vehicles is presented. By comparing the difference in elevation of LiDAR channels, a drivable region is defined. ...The presented approach used in this paper differs from previous LiDAR lane line detection methods by reducing the drivable region from three to two dimensions exploring only the x-y trace.

Autonomous vehicles rely on a suite of sensors, including Light Detection and Ranging (LiDAR) and cameras placed at optimal points on the vehicle for maximum coverage and utilization.

In other word, considering the inputs of system, which have been emitted from eclectic type of sensors such as camera, radar, and LIDAR, as time-varying signals, can be helpful to engross ‘time’ as a fundamental feature in modeling for forecasting the object, while car is moving on the way.

A cooperation between many sensors such as LIDAR, Radar and camera helps to enhance the safety. Apart from the importance of having a reliable object detector, the safety system should have requisite capabilities to make reasonable decisions in the moment.