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).
[1] 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.
[2] 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.
[3] 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.
[4] 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..
[5] 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.
[6] 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.
[7] 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.
[8] 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.
[9] 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.
[10] Sudhir Sharma, Wang Chen, "Using Model-Based Design to Accelerate
FPGA Development for Automotive Applications", in 2009 SAEWorld
Congress, January 1-15,2009.
[1] 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.
[2] 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.
[3] 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.
[4] 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..
[5] 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.
[6] 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.
[7] 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.
[8] 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.
[9] 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.
[10] Sudhir Sharma, Wang Chen, "Using Model-Based Design to Accelerate
FPGA Development for Automotive Applications", in 2009 SAEWorld
Congress, January 1-15,2009.
@article{"International Journal of Information, Control and Computer Sciences:56216", author = "Yu Ren Lin and Yi Feng Su", title = "FPGA Implement of a Vision Based Lane Departure Warning System", abstract = "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).
", keywords = "Lane departure warning system, image, FPGA.", volume = "5", number = "8", pages = "891-6", }
