System design of a situation adaptive lane keeping support system: The SAFELANE system

The goal of SAFELANE system is to develop the technology for a safe, reliable, highly available, acceptable and legally admissible on-board lane keeping support system for use in commercial and passenger vehicles on motorways and rural roads. The system reaction in critical lane departure situations includes the control of warning devices and an active steering actuator. The input to the system comes from cameras, which are supplemented by active sensors, vehicle CAN bus data, digital road maps and precise vehicle positioning data. In the paper, the system design will be presented. The system architecture consists of three layers: the perception layer being responsible for the environment perception, the decision and the action layer, which are responsible for taking and executing actions respectively. Thus, the design is constrained by the above mentioned layers and is presented in details as a domain model. The domain objects of the model describe the tasks of the SAFELANE system from the sensors' measurements until the final trigger of the warning and actuator system. SAFELANE is part of PREVENT Integrated Project