We use a controlled invariance approach to design a semi-autonomous lane departure assist system that is guaranteed to keep the vehicle in the lane. The controlled invariant safe set is the set of system states from which an input exists that can keep the vehicle in the lane. First we provide theoretical conditions under which the controlled invariant safe set has a simple characterization that...

Access to relative location of nearby vehicles on the local roads or on the freeways is useful for providing critical alerts to the drivers, thereby enhancing their driving experience as well as reducing the chances of accidents. The problem of determining the relative location of two vehicles can be broken into two smaller subproblems: (i) Relative lane localization, where a vehicle determines...

In this paper, we analyze the kinematics of the vehicles involved in a lane changing/merging maneuver, and study the conditions under which lane changing/merging crashes can be avoided. That is, given a particular lane change/merge scenario, we calculate the minimum longitudinal spacing which the vehicles involved should initially have so that no collision, of any type, takes place during the m...

Kinzel 2 Fig 1. " Standard " two-lane roundabout and key terms Abstract. Multi-lane roundabouts present motorists with a complex set of decisions. Unlike single-lane roundabouts, for which the only rule on entry is " yield to the driver on your left, then circulate to your right " , multi-lane roundabouts also require decisions about lane positioning – and these decisions are necessary at multi...

The lane-tracing algorithm is a reduced-space LR(1) parser generation algorithm. The previous version of lane-tracing algorithm regenerates states involved in reduce/reduce conflict by employing the practical general method. In this paper we describe an alternative lane-tracing approach, which regenerates states based on the lane table method. We discuss the details of this new algorithm, study...

Next-generation sequencing has become an essential tool in molecular biology that has been successfully applied to a broad variety of experimental approaches. While several platforms for next-generation sequencing exist, the most commonly used approach is sequencing-by-synthesis, implemented on Illumina's Genome Analyzer II (GAII) and HiSeq2000 systems. A key constraint of these sequencers is t...

This work examines the visual scanning behavior of drivers in preparing and executing a lane change. In an experiment, drivers navigated a naturalistic highway environment with moderate traffic in a fixed-base driving simulator. The data collected in the experiment included steering control data, eye movements, and verbal protocols. Drivers began to exhibit significantly different scanning beha...

In this paper, we proposed a new B-snake based lane detection algorithm. Compared with other lane models, the B-snake based lane model is able to describe a wider range of lane structures, since B-spline can form any arbitrary shape by a set of control points. The problems of detecting both sides of lane markings (or boundaries) have been formulated here as the problem of detecting the mid-line...

A robust and efficient lane detection system is an essential component of Lane Departure Warning Systems, which are commonly used in many vision-based Driver Assistance Systems (DAS) in intelligent transportation. Various computation platforms have been proposed in the past few years for the implementation of driver assistance systems (e.g., PC, laptop, integrated chips, PlayStation, and so on)...