Time to line crossing for lane departure avoidance: a theoretical study and an experimental setting

The main goal of this paper is to develop a distance to line crossing (DLC) based computation of time to line crossing (TLC). Different computation methods with increasing complexity are provided. A discussion develops the influence of assumptions generally assumed for approximation. A sensitivity a...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2006-06, Vol.7 (2), p.226-241
Main Authors: Mammar, S., Glaser, S., Netto, M.
Format: Article
Language:English
Subjects:
Applied sciences
Axles
Character generation
Computation
Computer Aided Engineering
Computer Science
Computer science
control theory
systems
Control theory. Systems
Curvature
Curved
Driver assistance
Exact sciences and technology
Gravity
Ground, air and sea transportation, marine construction
lane departure avoidance
Lanes
Mathematical analysis
observer
Performance evaluation
Prototypes
Roads
Robotics
Sensitivity analysis
Test tracks
Testing
time to line crossing
Tires
Vehicle dynamics
Vehicles
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Summary:The main goal of this paper is to develop a distance to line crossing (DLC) based computation of time to line crossing (TLC). Different computation methods with increasing complexity are provided. A discussion develops the influence of assumptions generally assumed for approximation. A sensitivity analysis with respect to vehicle parameters and positioning is performed. For TLC computation, both straight and curved vehicle paths are considered. The road curvature being another important variable considered in the proposed computations, an observer for its estimation is then proposed. An evaluation over a digitalized test track is first performed. Real data are then collected through an experiment carried out in test tracks with the equipped prototype vehicle. Based on these real data, TLC is then computed with the theoretically proposed methods. The obtained results outlined the necessity to take into consideration vehicle dynamics to use the TLC as a lane departure indicator.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2006.874707