As part of CSE 435: Software Engineering at Michigan State University (MSU) and in conjunction with General Motors (GM), Group 1 developed a Lane Management System (LMS) that included the following features: Lane Keeping Systems (LKS), Lane Departure Warning Systems (LDWS) and Lane Centering Systems (LCS) for a GM vehicle. I took the roles of Security Manager, Domain Expert, and Customer Liaison with team of 4 other MSU senior computer science students. 

Project Background

Automotive manufacturers are bringing in a variety of features that assist future drivers to enhance convenience and ensure safety in driving. Some of these new features rely on the lane markings on the road to enable the driver to ensure that the car remains within the lane while driving. The objective of this project is to develop a Lane Management System (LMS) that will include the following features: Lane Keeping Systems (LKS), Lane Departure Warning Systems (LDWS) and Lane Centering Systems (LCS). LMS is a driver assistance system that can include a variety of functions, starting with the simplest passive LMS that can detect the lanes and compute the relative position of the vehicle to the most complex active LMS, which can take over control from the driver to position the vehicle within a lane.

Project Description Summary

The simplest functionality of LMS is a lane sensing feature, which essentially identifies the lane in which the host vehicle is in and the relative position of the vehicle within the identified lane. The position information could be accurate with respect to relative position values or abstract values like, extreme left, in the middle, extreme right, etc. Some of the issues that are specific to this feature that need to be considered include: what happens when there are no (or ambiguity in) lane markings, when the road is curving, initiation and resumption of this feature, etc. You may assume a set of cameras for lane marker detection, appropriate roadside units and possibly GPS information, etc.
LDWS would make use of the Lane sensing feature and issue warnings to the driver when the vehicle leaves a lane. Here some issues are proper definition of lane departure, when and how often to give warnings, how do we deal with momentary/partial departure from a lane, distinguishing intentional departures, prediction of departure, etc. LKS would be an enhancement to LDWS, where the system could intervene and try to send commands to steer and adjust the position of the vehicle. This functionality is more critical as control is taken away from the driver. The issues to be addressed include who is the master, when and how to override, period of control. Many of these features are enabled only when the speed of the vehicle is between certain thresholds.
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Software Requirements Specification (SRS)

To showcase how the Lane Management System (LMS) performs and what it does, we created a Software Requirements Specification (SRS) document following IEEE Std 830-1998 SRS standards.

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Prototypes

Ideal Scenarios

The LMS system remain inactivated when the car has been turned on by the driver. It isn’t until the vehicle exceeds the speed threshold of 35 MPH that the Lane Management System will activate.

When the system detects an unintentional lane departure, where all sensors and systems are receiving accurate data, then the Lane Keeping System (LKS) will take control of the vehicle to center the car back in its original lane. Once centering is completed, then the LKS returns control back over to the driver.

When the system has near ideal conditions on a straight road and all sensors and systems are receiving accurate data, the Lane Management System System can maintain the vehicle position if conditions do not worsen.

When the sensors are receiving data that the road curves, the LMS stays on while conditions are clear and will give control to the driver if conditions worsen.

Non-Ideal but Manageable Scenarios

The LMS system remain inactivated when the car has been turned on by the driver. It isn’t until the vehicle exceeds the speed threshold of 35 MPH that the Lane Management System will activate.

When the system detects an unintentional lane departure, where all sensors and systems are receiving accurate data, then the Lane Keeping System (LKS) will take control of the vehicle to center the car back in its original lane. Once centering is completed, then the LKS returns control back over to the driver.

When the system has near ideal conditions on a straight road and all sensors and systems are receiving accurate data, the Lane Management System System can maintain the vehicle position if conditions do not worsen.

When the sensors are receiving data that the road curves, the LMS stays on while conditions are clear and will give control to the driver if conditions worsen.

Unmanageable Scenarios

The LMS system remain inactivated when the car has been turned on by the driver. It isn’t until the vehicle exceeds the speed threshold of 35 MPH that the Lane Management System will activate.

When the system detects an unintentional lane departure, where all sensors and systems are receiving accurate data, then the Lane Keeping System (LKS) will take control of the vehicle to center the car back in its original lane. Once centering is completed, then the LKS returns control back over to the driver.

When the system has near ideal conditions on a straight road and all sensors and systems are receiving accurate data, the Lane Management System System can maintain the vehicle position if conditions do not worsen.

When the sensors are receiving data that the road curves, the LMS stays on while conditions are clear and will give control to the driver if conditions worsen.

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