Real-time lane detection and tracking system using simple filter and Kalman filter

In this paper, we propose a real-time lane detection and tracking algorithm using a simple filter and Kalman filter to develop a Lane Departure Warning System(LDWS) that can be implemented in an embedded system. Our LDWS was realized on the I.MX6Q board, mounted on a test vehicle, and traveled about 1,000km to derive the experimental results. Experimental results show that our LDWS operates at 97% detection rate in the day time and 95% in the night time. The average processing time of the our LDWS is about 15frame per seconds.