Road marking classification method based on intensity of 2D Laser Scanner

With the development of autonomous vehicle, there has been active research on advanced driver assistance system for road marking detection using vision sensor and 3D Laser scanner. However, vision sensor has the weak points that detection is difficult in situations involving severe illumination variance, such as at night, inside a tunnel or in a shaded area; and that processing time is long because of a large amount of data from both vision sensor and 3D Laser scanner. Accordingly, this paper proposes a road marking detection and classification method using single 2D Laser scanner. This method road marking detection and classification based on accumulation distance data and intensity data acquired through 2D Laser scanner. Experiments using a real autonomous vehicle in a real environment showed that calculation time decreased in comparison with 3D Laser scanner-based method, thus demonstrating the possibility of road marking type classification using single 2D Laser scanner.