A Comparative Study Of Lidar And Camera-Based Lane Departure Warning Systems

This paper presents a comparison of a lidar and camera based lane departure warning methods. The two methods are analyzed based on their ability to determine the position of the vehicle in the lane under various weather and lighting scenarios. The position of the vehicle reported by the vision systems is compared to a precision survey of the lane markings at the National Center for Asphalt Technology (NCAT) test track and an RTK position of the vehicle. The criteria used to assess the performance of the two methods are based on detection rates, position error, and position variance.