An embedded real-time automatic lane-keeping system

Advanced Driver Assistance Systems (ADAS) are safety systems capable of identifying an unavoidable dangerous scenario and reacting coherently. An automatic lane-keeping system is designed to prevent dangerous events when the driver left inadvertently his/her own lane. In this paper a real-time automatic lane-keeping system is proposed. The main features of the system are the lane markers location process as well as the generation of the vehicle's steering angle. The system has been prototyped using the Celoxica RC203 board, equipped with a Xilinx Virtex II FPGA, for real-time processing of real motorway scenes coming from a CCD camera on a moving vehicle. The required processing time is 25,521 ms per frame, so that the system could Process 39 frames/see. Vehicle's steering angle is computed with good approximation.