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Joint Road Geometry Estimation and Vehicle Tracking
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Management and Engineering, Fluid and Mechatronic Systems.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology. Volvo Car Corporation, Sweden.
2007 (English)Report (Other academic)
Abstract [en]

Detection and tracking of other vehicles and estimation of lane geometry will be required for many intelligent driver assistance systems in the future. By combining the processing of these two features into a single filter, better utilisation of the available information can be achieved. For instance, it is demonstrated that it is possible to improve the road shape estimate by including information about the lateral movement of leading vehicles. Statistical evaluation is done by comparing the estimated parameters to true values in varying road and weather conditions. The performance is also related to typical requirements of active safety applications such as adaptive cruise control and a new safety function called emergency lane assist.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 10 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2755
Keyword [en]
Active safety, Centralised filtering, Extended Kalman filter, Road shape estimation, Sensor fusion, Target tracking
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56108ISRN: LiTH-ISY-R-2755OAI: oai:DiVA.org:liu-56108DiVA: diva2:316823
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-06-26Bibliographically approved

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Eidehall, AndreasPohl, JochenGustafsson, Fredrik

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