Roadway Detection and Lane Detection using Multilayer Laserscanner

Abstract

Multilayer laserscanner sensors measure a precise range profile of road traffic situations. Moreover, they are able to detect different reflectivities of object surfaces. In addition to object detection and object tracking, these sensory features enable a roadway and lane detection function without requiring additional sensors. A special multilayer laserscanner prototype has been developed for this purpose. The roadway detection is based on an identification of changes in the distance profiles pattern at the borders of roadways. A classification and tracking of reflection posts extends the effective range of the roadway detection and enhances its robustness. The lane detection makes use of the differential reflectivity of lane markings and road surface. The lane detection operates within a distance range of 4m up to 30m and has been tested on highway scenarios.