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Lane Departure Detection for Improved Road Geometry Estimation
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2005 (English)Report (Other academic)
Abstract [en]

An essential part of future collision avoidance systems is to be able to predict road curvature. This can be based on vision data, but the lateral movement of leading vehicles can also be used to support road geometry estimation. This paper presents a method for detecting lane departures, including lane changes, of leading vehicles. This information is used to adapt the dynamic models used in the estimation algorithm in order to accommodate for the fact that a lane departure is in progress. The goal is to improve the accuracy of the road geometry estimates, which is affected by the motion of leading vehicles. The significantly improved performance is demonstrated using sensor data from authentic traffic environments.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2005. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2714
Keyword [en]
Automotive tracking, Change detection, State estimation, Kalman filter, CUSUM-test
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56043ISRN: LiTH-ISY-R-2714OAI: oai:DiVA.org:liu-56043DiVA: diva2:316899
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-02Bibliographically approved

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Authority records BETA

Schön, ThomasEidehall, AndreasGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf