CHAPTER- 1

INTRODUCTION

The first vehicle was discovered in the eighteenth century. The vehicles were used for
the transportation of the goods and the people. At that time, roads were not adequately
developed. Over the years, innovations in technology take place, and the infrastructure
also changed in many aspects. The roads for transportation are now extensive, resulting
in an increase in the speed of the vehicle, and the travel time decreases.

Now a day, in the world, the primary concern while driving on the road is safety.
People always expect to reach home safely or to travel from one place to another place
safely. For driving safely and avoiding accidents on the road assistance system are
very helpful. The major causes of road accidents are rash driving, driving the vehicle
at full speed, drowsiness, lack of visibility on the road, and vehicle crashes. Vehicle
crashing is one of the leading reasons for the accident, which happened because of not
keeping the lane and while departing the lane. Many accidents are recorded in the
traffic-congested Asian region as well as the European region in the traffic-congested
Cities. Therefore the system is necessary which alert driver, while driving saves the
life of the driver as well as passengers. Computer vision is the dominant technology as
well as a dominant tool for sensing the atmosphere. Computer vision is used in ITS (
Intelligent Transportation Systems).

Nowadays, many automobile companies are pouring money into implementing the
driver assistance system. Automobile companies are investing in driving techniques
for ensuring the safety of the customer. An ADAS is used to facilitate the driver at the
time of driving. This system takes input from the sensors, and it gets it computed after
the computation response is specified to support the driver. The ACC system is an
example of an ADAS. ACC uses a radar sensor for monitoring, and by using it keeps
predefined distance to the vehicle ahead. This helps in avoiding the collision. The
cruise control system can be found in many vehicles. The other ADAS system also
uses sensors like LIDAR, GPS, camera, etc [3].

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A few examples of camera-based ADAS are LDW (Lane Departure Warning), IHC
(Intelligent Headlight Control), and LCW (Lane Change Warning). The LDW system
has three forms, and they are lane-keeping aid, LDW, and lane-centering aid. In the
LDWS, the vehicle position within the lane is continuously monitored. The system
notifies the driver regarding lane departure when vehicle is inside a particular space of
lane boundary. LKAS (lanekeeping assistance system) monitors the road and assists
the driver when the vehicle is drift too far and steers the vehicle away from the lane
marking. Lane centering assistance monitors roads, and notifies the driver to keep the
vehicle focused in the ebb and flow path [5]. Example of LDWS is demonstrated in
figure 1.1.

Figure 1.1. LDWS example [6]

In LCW, vehicle continually monitors traffic and check for the blind spot. If the system
detects the vehicle in the neighboring lane, then it notifies the driver not to depart the
lane. The IHC system is using headlights of seven high beams that are maximized at

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night. The headlights are switched from high to low beam if the neighboring vehicle
is present.

Many automobile companies have introduced ADAS in their vehicle. Table 1 shows
the companies and the DAS features they have provided in the vehicle for the driver's
safety. Companies like Nissan, Audi, Mercedes, and Tesla have provided LDW
features, lane-keeping feature, and lane monitoring feature.

Table 1.1: Automobile companies and the driver assistance system

Company DAS System Offered
Nissan Motors Lane-keeping assistant system
Toyota Lane Monitoring System
Honda Lane-keeping assistant system
Citroën Lane departure warning system
Lexus Multi-mode lane keeping assistant system
Audi Lane Assist System
General Motors Lane departure warning system
Volvo Driveralert control system,part of the pilot assist system,part of
the pilot assist II system, and lane departure warning system.

Mercedes-Benz, Lane keeping assistance, distronic plus steering assistance, and

Mercedes Stop&Go

Kia Motors Lane departure warning system

Tesla ADAS, automatic lane change, ACC, sign recognition speed,
and location regulation

Volkswagen Automatic Lane Change

BMW Lane departure warning system

In this research work, three methodologies are introduced for lane detection. The first
methodology is an Earthworm- Crow Search Algorithm based on a Deep CNN (DEEP
CNN). The camera captures the multiple images. These multiple images are provided

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to EW-CSA based deep CNN model as training input, but the images transformed
before providing as training input to the proposed classifier.
IPM (inverse perspective mapping) model intended for converting the multilane
images to a BEV (birds’ eye view) images. After performing the transformation, the
BEV images are fed to the Deep CNN classifier for lane detection. The Earth Worm-
Crow Search algorithm tunes the best weights to the DEEP CNN, and then it
accomplishes lane detection. Results of EW-CSA based deep CNN technique are
compared with the existing techniques. Chapter 3 explains an EW-CSA based deep
CNN method.

Second scheme introduced is a segmentation technique for multilane detection. This

method is called as RBIS segmentation. Initially, multilane input image undergoes
segmentation process using the sparkling approach. After the segmentation, the
detection of the multilane is carried out using the proposed iterative seed method.
During segmentation, the image is divided into grids. Next, the minimum distance is
found by using Bhattacharyya distance; after that, the grouping is done. Lastly, the
neighborhood distance is used for segmenting the lanes and the roads for detecting
multilane. This methodology is explained in chapter 4.

The third method introduced for lane detection is an entropy function model for
preventing road accidents. An entropy function Model combines outputs acquired by
an EW-CSA based deep CNN and the RBIS segmentation technique to detect
multilane. In an EW-CSA based deep CNN, image/picture transformation is done for
acquiring a birds’ eye view picture. After that, an EW-CSA based deep CNN performs
lane detection. The EW-CSA is built by combining the Earth-Worm algorithm and
Crow Search Algorithm. An EW-CSA algorithm is a training algorithm in deep CNN.
In the second approach, the RBIS segmentation method is used to detect multilane.
Entropy is an essential factor, and it measures the information content of the picture.
It can differentiate information from the noise. As a result, entropy function is used to
combine the calculated result of an EW-CSA based Deep CNN and RBIS
segmentation method, to detect multilane by preserving information
successfully. This methodology explained in chapter 5.

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1.1. MOTIVATION

There are many ITS’s available with ADAS that make sure the safety of the driver on
the road, and in packed traffic circumstances. Many researchers have developed
techniques for the safety of the driver. The primary cause of sudden fatality in this
world is an accident on the road. However, the increased speed gave rise to road
accidents, so the safety of the driver has become an important issue. The distraction
of the driver while driving the vehicle or high speed of the vehicle causes the accident.
The fatality rate of traffic accidents is increased.

In the year 2016 survey related to road accidents conducted in India, index survey, it
was found that 17 death is happening per hour because of a vehicle collision and while
departing the lane. In 2014 the count of people who died because of road accidents
was 1, 39, 671 [1].

WHO has launched a global road safety status report in December 2018 [2]. It has
been reported that annual road accident deaths are now reached 1.35 million. Many
people between the ages group of 5-29 are the victims of road traffic injuries. The
accidents cause not an only human loss but also economic loss. The road accident
causes lots of fatalities worldwide, so in the automotive industry, it has become
necessary to improve driver safety by using the Driver Assistance System (DAS). The
Driver Assistance System (DAS) avoids accidents by assisting the driver.

Today, there are many advanced techniques available for driver assistants, but still,
there is a need to make the system better. Lane detection is the most researched topic,
but lane detection success is depending on the lane detection accuracy. If the system
gives 100% accuracy, then there are chances of detecting the correct lane in any
condition. However, the vision-based detection system has not achieved 100%
accuracy due to external disturbances and the road conditions. Many times the road
lines are not prominent as they are faded, shadows of the building and trees affect the
lane detection. The weather also has an impact on detecting the lane markings. The
light reflects at night time on the road surface also makes lane detection difficult. The

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intensity of the light also varies from low to high and vice versa that also affects lane
detection, so it is quite evident that achieving 100% accuracy is quite tricky in lane
detection.

So in our research, we are providing three new techniques to improve lane detection
in the vehicle and avoid road accidents. Even if there are external disturbances on the
road, the road should be appropriately detected. It will increase the confidence in the
driver in diverse illumination circumstances as well as environments.
In our thesis, we have motivated to enhance the correctness of multilane detection.

1.2.AIM & OBJECTIVE

The research work aims to provide better safety to the vehicle driver, on road, and
avoid accidental deaths. High path detection accuracy makes lane detection easy and
reliable. So, we are aiming to increase lane detection accuracy. The basic thought of
the basic aim and objective of the thesis is clarified in figure 1.2 with the help of a
block diagram.

Figure 1.2: Planned Research General Block Diagram

CAPTURING THE INPUT IMAGES USING SENSORS

There are many different types of sensors available for the acquisition of the input
images. Here, the input is captured by using the vision-based approach. For capturing

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the pictures the camera is mounted on the vehicle. The camera captures the roads,
lanes, boundaries, etc.

PREPROCESSING

The preprocessing phase is the crucial phase in computer vision. When the images are
captured, it has too much noise. In other words, the images are not fit for
processing. Sometimes the images can be blurry or have some disturbances. The
computer vision improves the quality of the images for detecting the lane. Noise is
reduced by passing images through filters and models for processing. So, we will get
an improved image, and it will help to discover the lane marks on the road.

FEATURE EXTRACTION

In feature extraction phase, many various types of features are extracted from road and
lane markings. Different types of features extracted are color-based features, gradient
color features, texture, shape, and multi-features.

LANE DETECTION/PATH IDENTIFICATION

Path recognition is one of the strategies in vision based path identification. The name
itself demonstrates that it is a procedure of distinguishing and recognizing the path
where ground traffic flows.The crucial part is lane detection in DAS. Hence, we need
some visual sensors, some processing units, and particular algorithms to perform
detection.

Many human beings are having a problem in detecting the lane. They assume straight
roads, but they do not assume or consider curved roads. It is necessary to detect the
lane by assuming parallel both sides of the lane marks for improving detection when
the noise is present in the image [31].

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Hence, in this research, lane detection is considered, that fulfils all challenges
mentioned in chapters 3, 4, and 5.

1.3. SCOPE AND RESEARCH ENQUIRY

The research work of the thesis revolves around the investigation that whether the
enactment of the lane detection technique is increased through the proposed lane
detection approaches. The foremost goal of the research is to study the efficacy of
the plannedmethods of lane detection, with the objectives given below:
➢ Discover present lane detection techniques
➢ Build up and assess the lane detection approach using EW-CSA based deep
CNN, and evaluate the performance with present or existing system.
➢ Develop and assess lane detection approach by using RBIS (region-based
iterative seed) technique, and evaluate the performance with present or
existing system.
➢ Develop and assess the lane detection approach using entropy function, and
evaluate the performance with present or existing system.

1.4. THESIS CONTRIBUTION

The research thesis contribution is given below.

1. Introduced an EW-CSA based DEEP CNN classifier for detecting the lanes,
and to enhance accuracy of lane detection. Proposed schemes results are
compared with existing lane detection methods,such as MMBMT, DVPE, and
DEEP CNN

2. Introduced the region based segmentation method using the iterative seed to
detect the multilane, and to improve accuracy of lane detection. Proposed
method’s results are compared toModified Min-Between-Max

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 Thresholding(MMBMT), Dense Vanishing Point Estimation (DVPE), Deep
Convolution Neural Network (deep CNN), and EW-CSA based DCNN.

3. Entropy fusion model is introduced for lane detection by combining the EW-
CSA based deep CNN and RBIS segmentation method. Proposed schemes
results are compared with MMBMT, DVPE, DCNN, EW-CSA based Deep
CNN, and RBIS.

4. Results of all the three proposed methods are discussed.

1.5. ACCOMPLISHMENT PRINCIPLES

The research accomplishment criteria of the thesis are given below:

➢ The research question addresses put toward the beginning of this examination
must be met,
➢ A result showing how the proposed procedures have enhanced the current
methodologies. These principles will be returned to in the conclusion chapter
to contend that such outcomes exist and met in our examination.

1.6. OUTLINE OF PROPOSED RESEARCH WORK

Outline of research thesis is given below demonstrated in figure 1.3 and explained
below:
Chapter 1:
Initially, a brief introduction of the lane detection is given, after that, research
motivation, aim and objectives are described. The scope and research enquires
are discussed. The contribution of the thesis research work, as well as
accomplishment principles, is mentioned.

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Chapter 2:
Initially, discussed lane detection, and the brief investigation about various
methods used for lane detection is done. Investigation of the research work
done in lane detection field is carried out. Discussed lane scenarios and the lane
types are done. A brief overview of the inverse perspective mapping method is
performed. Some fundamental algorithms like crow search algorithm, earth
worm algorithm and deep CNN algorithm’s basics are studied. Challenges and
the limitations of the lane detection techniques are discussed.

Chapter 3:
Initially, a brief introduction is given, challenges of existing lane detection
methods are discussed, the proposed method is implemented, and EW-CSA
based classifier is discussed, experimental results are discussed, and results are
compared with the existing method, a comparative study is done.

Chapter 4:
Initially, a brief introduction is specified. Proposed RBIS segmentation
technique is implemented, experimental results are discussed, and results are
compared with the existing method, a comparative study is done.

Chapter 5:
Initially, a brief introduction is given, proposed Entropy fusion method is
implemented, an EW-CSA based classifier and RBIS segmentation technique
are discussed briefly, experimental results are discussed, and results are
compared with the existing method, a comparative study is done.

Chapter 6:
Conclusion

Research work outline is demonstrated in figure 1.3

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Figure 1.3: Outline of proposed research work

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SUMMARY

Driver’s safety on the road is important. Many automobile companies have provided
the driver assistant systems like lane monitoring system, lane keeping system, and
LDWS for driver’s safety. The researchers develop various lane detection approaches,
but still, there is a need for improved accuracy. Improving the accuracy of lane
detection is very essential. Therefore, three lane detection approaches, EW-CSA based
deep CNN, RBIS segmentation, and entropy function is proposed. The main motive
behind proposing these techniques is to advance the performance of lane detection.
Performance measures are used to evaluate performance of proposed techniques.

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