Use of the lane-mark and the shoulder of a road recognition system for lane keeping.

Lane marking recognition is a useful approach for the development of lane departure warning systems and lane keeping systems using an image processing system. However it can be very difficult to recognise lane markings perfectly if they are in poor condition or contain gaps. A method for the detection of lane markings and of the edge of a road with side walls is proposed in order that the vehicle can recognise its position on the carriageway. The configuration of the detection system and the algorithm for the recognition of lane markings and the edge of the road are described. (A*)