I am aware of the conventional Lane Keeping Assistance Systems (LKAS) approaches like

  1. sliding windows-based and
  2. CNN-based

The end result of either of them is 2 lines of reference and the steering angle can be approximated using the imaginary line running between the both detected lines. I suppose the distance measurements are done in pixels. A PID controller can then be devised to replicate a line-follower method.

What if we only have a single line, for e.g., the white marking on the left end of the road. How can one still navigate the car autonomously ?

  • $\begingroup$ By lane I referred to the white (or any other color) markings on the road, used by autonomous cars to steer correctly $\endgroup$
    – Pe Dro
    Dec 9 '20 at 2:32

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