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A New Approach to Lane Guidance Systems
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Volvo Car Corporation, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2005 (English)Report (Other academic)
Abstract [en]

This paper presents a new automotive safety function called Emergency Lane Assist (ELA). ELA combines conventional lane guidance systems with a threat assessment module that tries to activate and deactivate the lane guidance interventions according to the actual risk level of lane departure. The goal is to only prevent dangerous lane departure manoeuvres. Such a threat assessment algorithm is dependent on detailed information about the vehicle surroundings, i.e., positions and motion of other vehicles, but also information about road and lane geometry parameters such as lane width and road curvature. An Extended Kalman Filter for estimating these parameters is used and the performance is improved by introducing a non-linear model which uses a road aligned, curved coordinate system. The ELA decision algorithm has been tested in a demonstrator and it successfully distinguishes between dangerous and safe lane changes on a small set of test scenarios. It is also able to take control of the vehicle and put it in a safe position in the original lane.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2005. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2704
Keyword [en]
Kalman filter, Nonlinear filter, Road safety, Navigation, Automated highways
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56041ISRN: LiTH-ISY-R-3902OAI: oai:DiVA.org:liu-56041DiVA: diva2:316901
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-06-23Bibliographically approved

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Eidehall, 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