In the last few years, driver assistance systems are increasingly being investigated in the automotive field to provide a higher degree of safety and comfort. Lane position determination plays a critical role toward the development of autonomous and computer-aided driving. This paper presents an accurate and robust method for detecting road markings with applications to autonomous vehicles and driver support. Much like other lane detection systems, ours is based on computer vision and Hough transform. The proposed approach, however, is unique in that it uses fuzzy reasoning to combine adaptively geometrical and intensity information of the scene in order to handle varying driving and environmental conditions. Since our system uses fuzzy logic operations for lane detection and tracking, we call it “FLane.” This paper also presents a method for building the initial lane model in real time, during vehicle motion, and without any a priori information. Details of the main components of the FLane system are presented along with experimental results obtained in the field under different lighting and road conditions.
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e-mail: giulio.reina@unisalento.it
e-mail: milella@ba.issia.cnr.it
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March 2011
Research Papers
FLane: An Adaptive Fuzzy Logic Lane Tracking System for Driver Assistance
Giulio Reina,
Giulio Reina
Department of Engineering for Innovation,
e-mail: giulio.reina@unisalento.it
University of Salento
, Via per Arnesano, 73100 Lecce, Italy
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Annalisa Milella
Annalisa Milella
Institute of Intelligent Systems for Automation,
e-mail: milella@ba.issia.cnr.it
National Research Council
, Via G. Amendola 122/D, 70126 Bari, Italy
Search for other works by this author on:
Giulio Reina
Department of Engineering for Innovation,
University of Salento
, Via per Arnesano, 73100 Lecce, Italye-mail: giulio.reina@unisalento.it
Annalisa Milella
Institute of Intelligent Systems for Automation,
National Research Council
, Via G. Amendola 122/D, 70126 Bari, Italye-mail: milella@ba.issia.cnr.it
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 021002 (11 pages)
Published Online: February 11, 2011
Article history
Received:
July 9, 2008
Revised:
July 23, 2010
Online:
February 11, 2011
Published:
February 11, 2011
Citation
Reina, G., and Milella, A. (February 11, 2011). "FLane: An Adaptive Fuzzy Logic Lane Tracking System for Driver Assistance." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 021002. https://doi.org/10.1115/1.4003091
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