Skip to main content
Estimation of Vehicle's Lateral Position via the Lucas-Kanade Optical Flow Method
Yang, Jiann-Shiou (Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota, 2012)
 

Title 
Estimation of Vehicle's Lateral Position via the Lucas-Kanade Optical Flow Method

Author(s)

Issue Date
2012-09

Publisher
Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota

Type
Report

Abstract
The use of rumble strips on roads has proven to be an effective means of providing drivers lane departure warning (LDW). However, rumble strips require an infrastructure and do not exist on a majority of roadways. Furthermore, rumble strips present a difficult issue of where to establish the rumble-strip distance threshold. To develop an effective virtual rumble-strip LDW system where the rumble-strip threshold is allowed to vary according to the risk of the vehicle departing the road, it is essential to know the vehicle’s lateral characteristics; in particular, the vehicle’s lateral position and speed. In this report, we use image processing via an in-vehicle camera to estimate the vehicle’s lateral position and speed. The lateral position is estimated by determining the vehicle’s heading angle via a homography and the Lucas-Kanade optical flow techniques; while the lateral speed is determined via the heading angle and the vehicle’s On Board Diagnostic (OBD)-II forward speed data access. The detail of our approach is presented in this report together with our findings. Our approach will only need the minimal set of information to characterize the vehicle lateral characteristics, and therefore, makes it more feasible in a vehicle application.

Appears in Collection(s)

Series/Report Number
CTS 12-31

Sponsorship
Department of Electrical Engineering, University of Minnesota Duluth; Northland Advanced Transportation Systems Research Laboratories, University of Minnesota Duluth

Suggested Citation
Yang, Jiann-Shiou. (2012). Estimation of Vehicle's Lateral Position via the Lucas-Kanade Optical Flow Method. Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota. Retrieved from the University of Minnesota Digital Conservancy, http://purl.umn.edu/138020.


Content distributed via the University of Minnesota's Digital Conservancy may be subject to additional license and use restrictions applied by the depositor.