Exploratory Advanced Research . . . Next Generation Transportation Solutions

•	 Advanced light detection and ranging (LiDAR) systems, used for adaptive cruise control and collision 

avoidance.

While each of these technologies can contribute data 

to lane-keeping systems, each also has performance 

limitations and can be rendered unreliable under certain driving conditions. Cameras in lane-departure 

warning systems, for example, are prone to error 

where lane markings are missing or difficult to detect—in poor lighting, rain, or snow. GPS is subject to 

blockage by other vehicles, city buildings, and heavy 

foliage, as well as to delays and errors caused by satellite positioning and ionospheric and tropospheric 

conditions. Low-cost inertial sensors used for stability 

control accumulate position errors over time. Because 

of their differing modalities, however, there is potential for these systems to complement each other. The 

goal of this EAR project is to fuse the data from a 

range of sensors to compensate for the deficiencies 

of each—creating an accurate, robust, and reliable 

system for navigation and control.

Integrating Systems Data

Earlier studies have demonstrated the feasibility of 

integrating GPS and inertial sensors and of using 

lane-departure data to correct GPS and map database errors. Going a step further, this EAR project is 

developing algorithms for integrating data from GPS, 

on-board cameras, LiDAR, and inertial sensors, with 

particular attention to fusing high-accuracy nationwide differential GPS measurements with those of 

low-cost accelerometers and gyros that support electronic stability control systems. 

“Although other work has focused on fusing sensor 

data,” says Dave Gibson of FHWA’s Office of Operations Research and Development, “this study attempts to fuse a wider range of sensors to provide 

overall accuracy—creating a bridge between navigation systems and safety systems. As a bonus, the project will yield information that engineers can use to 

improve safety products.”

The Exploratory Advanced Research Program Fact Sheet

Driver-Assisted and Automated 

Lane-Keeping 

Lane-keeping systems have been available since 

about 2000 and are becoming increasingly common 

on new vehicles. Recognizing the potential of positioning technologies to prevent many thousands of highway deaths, FHWA continues to support efforts to improve the reliability and accuracy of these systems. 

The innovative approach of this EAR project is to 

integrate data from a variety of onboard sensing equipment that is already in use or will soon be available:

•	 Lane detection cameras, which inform lanedeparture warning and prevention systems. 

•	 Micro-electro-mechanical systems inertial sensors, 

such as accelerometers, wheel speed sensors, and 

rate gyroscopes, which supply navigation information—referred to as inertial navigation systems and 

used for electronic stability control.

•	 High-accuracy nationwide differential GPS, under 

development for positioning accuracy down to 10 

cm (3.9 in.).

More than 25,000 people die each year in the United States in crashes caused 

by a vehicle drifting or veering out of its lane. 

Preventing such crashes through a more accurate and reliable lane-keeping system is the 

challenge taken up in “Intelligent Multi-Sensor 

Measurements to Enhance Vehicle Navigation 

and Safety Systems.” This Exploratory Advanced Research (EAR) Program project, 

launched by the Federal Highway Administration (FHWA) in 2008, is being conducted by 

Auburn University.

Staying in Lane 

Intelligent Fusion of Vehicle Sensor Data
Key Challenge

The researchers have found that combining the measurements provided by the different sensors poses a 

critical challenge: each sensor’s specific, individual error source must be corrected before the different but 

complementary measurements can be combined. The 

data are being gathered on a vehicle outfitted with differential GPS, various inertial measurement units, camera, Doppler radar, and the Ibeo LiDAR, with all necessary hardware and software for on-board data collection. 

Ibeo Automobile Sensor, a German company focused 

on the use of laser technology in driver-assistance systems, is providing support for the project.

Future Efforts

Following successful demonstration of enhanced lanepositioning capability, the project will produce a test 

methodology for use by industry, as well as a plan for 

using the study methodology and results in applied research programs supported by FHWA and the National 

Highway Traffic Safety Administration. A final goal is to 

refine and optimize the data integration algorithms for 

various driving conditions. Project completion is anticipated in 2011.

Learn More

For more information on this EAR Program project, 

contact David Gibson, FHWA Office of Operations 

Research and Development, at 202-493-3271 (email: 

david.gibson@dot.gov).

What Is the Exploratory 

Advanced Research Program?

FHWA’s Exploratory Advanced Research (EAR) 

Program focuses on long-term, high-risk research with a high payoff potential. The program addresses underlying gaps faced by applied highway research programs, anticipates 

emerging issues with national implications, 

and reflects broad transportation industry 

goals and objectives. 

To learn more about the EAR Program, 

visit the Exploratory Advanced Research Web 

site at www.fhwa.dot.gov/advancedresearch. 

The site features information on research solicitations, updates on ongoing research, links 

to published materials, summaries of past 

EAR Program events, and details on upcoming events. For additional information, contact 

David Kuehn at FHWA, 202-493-3414 (email: 

david.kuehn@fhwa.dot.gov), or Terry Halkyard 

at FHWA, 202-493-3467 (email: terry.

halkyard@fhwa.dot.gov). 

Publication No. 

FHWA-HRT-10-064

HRTM-04/07-10(1M)E

Staying in Lane 

Intelligent Fusion of Vehicle Sensor Data

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DaveAlan