FPGA Implement of a Vision Based Lane Departure Warning System
Using vision based solution in intelligent vehicle application often needs large memory to handle video stream and image process which increase complexity of hardware and software. In this paper, we present a FPGA implement of a vision based lane departure warning system. By taking frame of videos, the line gradient of line is estimated and the lane marks are found. By analysis the position of lane mark, departure of vehicle will be detected in time. This idea has been implemented in Xilinx Spartan6 FPGA. The lane departure warning system used 39% logic resources and no memory of the device. The average availability is 92.5%. The frame rate is more than 30 frames per second (fps).
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1333250Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1747
 B. Yu, W. Zhang, Y. Cai "A Lane Departure Warning System based on Machine Vision" in IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application, 2008, pp.197-201.
 C.R. Jung, C.R. Kelber "A Lane Departure Warning System Using Lateral Offset with Uncalibrated Camera" in Proc. Int. IEEE Conf. on Intelligent Transportation Systems, Sep. 13-16, 2005, pp. 348-353.
 P. Y. Hsioa, C. W. Yeh, S. S. Huang, L. C. Fu "A Portable Vision Based Real-Time Lane Departure Warning System : Day and Night", IEEE Trans. Intelligent Transportation Systems, vol. 58, no. 4, pp. 2089-2094, May 2009.
 W. Zhu, F. Liu, Z. Li, X. Wang, S. Zhang "A Vision Based Lane Detection and Tracking Algorithm in Automatic Drive", in IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application, 2008, pp.799-803..
 N. M. Enache, S. Mammar and M. Netto, B. Lusetti "Driver Steering Assistance for Lane-Departure Avoidance Based on Hybrid Automata and Composite Lyapunov Function" in IEEE Trans. On Intelligent Transportation Systems, Mar. , 2010, vol1, pp.28-39.
 M. J. Jeng, C. Y. Guo, B. C. Shiau and L. B. Chang, "Lane Detection System Based on Software and Hardware Codesign," in Proc. 4th Int. IEEE Conf. on Autonomous Robots and Agents, Feb. 10-12, 2009, pp. 319 - 323.
 H. Y. Cheng, B. S. Jeng, P. T. Tseng, K. C. Fan, "Lane Detection With Moving Vehicles in the Traffic Scenes," in IEEE Trans. on Intelligent Transportation Systems, Vol.7 Dec. 2006, pp. 571-582.
 A. AM. Assidiq, O. O. Khalifa. Md. R. Islam, S. Khan, "Real Time Lane Detection for Autonomous Vehicles", in Proc. Int. IEEE Conf. on Computer and Communication Engineering, May. 13-15, 2008, pp. 82 - 88.
 J. F. Liu, Y.F. Su, M. K. Ko and P. N. Yu "Development of a Vision-Based Driver Assistance System with Lane Departure Warning and Forward Collision Warning functions" Digital Image Computing: Techniques and Applications, 2008, pp. 480-485.
 Sudhir Sharma, Wang Chen, "Using Model-Based Design to Accelerate FPGA Development for Automotive Applications", in 2009 SAEWorld Congress, January 1-15,2009.