ABSTRACT

There are thousands of car accidents in the every year across the world. These accidents
claim many lives and lots of properties. There are many different types of accidents,
including rear end collisions, side swipes, head on collisions, collisions with stationary
objects, accidents while changing lanes, and driving off the road. Seat belt usage, air bags,
cruise control, rumble strips, and stricter vehicle safety requirements have all helped to
reduce the number of accidents and fatalities. However, it is now possible to do more, by
using intelligent driver assistant systems. In this paper, we propose a design lane departure
warning system with object classification on road so that the driver can take smart and
corrective measures to avoid the deviation from the lane as well as to avoid collision with
the vehicle ahead of it. This safety system of Advanced Driver’s Assistance System
(ADAS) can help in checking the road accidents. The system highly relies on the Open CV
for lane line detection as Lane Departure Warning system (LDWS). The second part of the
paper is object detection at the front of the vehicle for collision avoidance. It uses stereo
camera as vision sensor. The real image obtained from vision system gives more accurate
information to detect the target vehicle and gives satisfactory result. The output from the
stereo vision sensor is fed to the controlling unit. Yolo (You Only Look Once) based real
time object detection is used to determine the presence of the vehicles in the frame. Depth
map for the vehicles located in the vision frame is obtained with help of stereo camera
System Development Kit (SDK).

Keywords: LDWS, ADAS, Collision Avoidance, YOLO, SDK

 Contents
Sr. No Title Page No

1 Introduction 1
1.1 Needs of lane departure warning system 3
2 Objective 4

3 Challenges 5

4 Literature review 6

5 Construction 7

6 Working 12
7 Advantages 14

8 Disadvantages 15

9 Application 16

9.1 List of cars with lane departure warning 17

10 Feature 18
11 Future scope 19
12 Case study 20

12.1 Introduction 20

12.2 Related work 21

12.3 Methodology 21

12.4 Result 23

12.5 Conclusion 25
12.6 Case study reference 25

13 Conclusion 26

14 Reference 27
 Table of Figures

Fig No Name Page No.

1.1 Lane departure warning 2
1.2 Warning alarm 3
5.1 Construction of lane departure warning system 7
5.2 Laser sensors (mounted on the front of the vehicle) 8
5.3 The PCB and camera sensors 9
5.4 The component of lane depaerure warning system 10
5.5 Lane tracks 11
6.1 Functional elements of a lane departure warning system 12
6.2 Car crossing the lane 13
12.1 LDW from Takata India Pvt Ltd 20
12.(a) Distorted and Undistorted Images 21
12.3(b) Binary image 22
12.3(c) Bird’s eye view 22
12.4(a) Image showing the left curve 23
12.4(b) Image Showing the straight line 24
12.4(c) Image Showing Right Curve and object (car) detected 24