Technical Paper
Development of Lane Departure Warning System and SiL Testing for AV Systems in India
2022-10-05
2022-28-0117
Autonomous vehicles (AVs) are self-contained vehicles equipped with control systems to execute various tasks. The Lane Departure Warning (LDW) system is widely employed to prevent the most common cause of vehicle collisions. An autonomous lane-departure system will aid and reduce such collisions. When the vehicle is at risk of drifting or departing its lane, the LDW system monitors its relative position to the lane edge and sends an alarming warning signal to the driver. This work uses an ML-based technique to detect lane markers in an Indian context using a high-resolution camera mounted on the car. Considering that, the LDW system requires three primary operations. The camera geometry information is used to divide the acquired image into two parts: a road part and a non-road component. Then, to circumvent the obstacles caused by the perspective effect, inverse perspective mapping is applied.