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This paper presents a camera-based lane departure warning system implemented on a field programmable gate array (FPGA) device. The system is used as a driver assistance system, which effectively prevents accidents given that it is endowed with the advantages of FPGA technology, including high performance for digital image processing applications,(More)
Object Recognition is an essential component for Autonomous Land Vehicle (ALV) navigation in urban environments. This paper presents a thorough evaluation of the performance of some state of the art global descriptors on the public Sydney Urban Objects Dataset<sup>1</sup>, which was collected in the Central Business District of Sydney. These descriptors are(More)
Long range curb detection is crucial for an Autonomous Land Vehicle (ALV) navigation in urban environments. This paper presents a novel curb detection algorithm which can detect the curbs up to 50 meters away with Velodyne LIDAR. Instead of building a Digital Elevation Map (DEM) and utilizing geometric features (like normal direction) to extract candidate(More)
This paper presents a real-time long-range lane detection and tracking approach to meet the requirements of the high-speed intelligent vehicles running on highway roads. Based on a linear-parabolic two-lane highway road model and a novel strong lane marking feature named Lane Marking Segmentation, the maximal lane detection distance of this approach is up(More)
For the application of ALV (Automatic Land Vehicle) running in a dynamic environment, an improved dynamic RRT(Rapidly exploring Random Trees ) path planning algorithm is proposed. The algorithm combines the noholonomic constraints of the vehicle with double extend RRTs, and the three order B-spline basic functions are used to approach and create a new(More)
Dynamic vehicle tracking is an important module for Autonomous Land Vehicle (ALV) navigation in outdoor environments. The key step for a successful tracker is to accurately estimate the pose of the vehicle. In this paper, we present a novel real-time vehicle pose estimation algorithm based on the likelihood field model built on the Velodyne LIDAR data. The(More)
Autonomous vehicle technology has attracted many attention in recent years. However, this technology is still challenging in urban areas because of the complicated environments. A highly detailed map for autonomous vehicle is proposed in this paper. This map representation consists of three basic traffic elements: roads, lanes and lane markings. It can(More)
Dynamic vehicle detection is an important module for Autonomous Land Vehicle (ALV) navigation in outdoor environments. In this paper, we present a novel dynamic vehicle detection algorithm based on the likelihood field model for an ALV equipped with a Velodyne LIDAR. An improved 2D virtual scan is utilized to detect the dynamic objects with the scan(More)
Lateral control in autonomous parking system, which is always at low speed, simultaneously requiring very small following error, is a difficult problem to resolve. To address this problem, fractional order controller is introduced to the lateral control for auto-parking system in this paper. What's more, in order to address the parameters tuning problem in(More)