Estimation of the Lateral Distance between Vehicle and Lanes Using Convolutional Neural Network and Vehicle Dynamics

Abstract

With the aim to achieve an accurate lateral distance between vehicle and lane boundaries during the road test of Lane Departure Warning and Lane Keeping Assist, this study proposes a recognition model to estimate the distance directly by training a deep neural network, called LatDisLanes. The neural network model obtains the distance using two down-face cameras without data pre-processing and post-processing. Nevertheless, the accuracy of recognition is disrupted by inclination angle, but the bias is decreased using a proposed dynamic correction model. Furthermore, as training a model requires a large number of label images, an image synthesis algorithm that is based on the Image Quilting is proposed. The experiment on test data set shows that the accuracy of LatDisLanes is 94.78% and 99.94%, respectively, if the allowable error is 0.46 cm and 2.3 cm when the vehicle runs smoothly. In addition, a bigger error can be caused when inclination angle is greater than 3°, but the error can be reduced by proposing a dynamic correction model.