Lane estimation and departure warning using multilayer laserscanner

A new strategy combining three approaches to perform lane detection based on laserscanner data is presented. These approaches are based on detection of the lane markings, interpretation of measurements at the road boundary or analysis of the trajectory of the other road users, for the period of medium or high volume of traffic. Combining these approaches a reliable position within the lane can be generated to generate information for applications like lane departure warning. This application is possible in addition to automatic emergency braking, precrash, ACC Stop&Go or pedestrian protection using a single laserscanner.