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Road Geometry Estimation and Vehicle Tracking using a Single Track Model
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.
2008 (English)Report (Other academic)
Abstract [en]

This paper is concerned with the, by now rather well studied, problem of integrated road geometry estimation and vehicle tracking. The main differences to the existing approaches are that we make use of an improved host vehicle model and a new dynamic model for the road. The problem is posed within a standard sensor fusion framework, allowing us to make good use of the available sensor information. The performance of the solution is evaluated using measurements from real and relevant traffic environments from public roads in Sweden. The experiments indicates that the gain in using the extended host vehicle model is most prominent when driving on country roads without any vehicles in front.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2008. , 28 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2844
Keyword [en]
Road geometry, Vehicle tracking, Sensor fusion, Kalman Filter, Single track model
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56165ISRN: LiTH-ISY-R-2844OAI: oai:DiVA.org:liu-56165DiVA: diva2:316932
Projects
SEFS
Available from: 2010-12-08 Created: 2010-04-30 Last updated: 2014-09-02Bibliographically approved

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Road Geometry Estimation and Vehicle Tracking using a Single Track Mode(802 kB)1119 downloads
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fulltext(802 kB)141 downloads
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Lundquist, ChristianSchön, Thomas B.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • 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