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.


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    Title :

    Joint road geometry estimation and vehicle tracking


    Additional title:

    Gemeinsame Straßengeometrieschätzung und Fahrzeugverfolgung


    Contributors:

    Published in:

    Control Engineering Practice ; 15 , 12 ; 1484-1494


    Publication date :

    2007


    Size :

    11 Seiten, 9 Bilder, 2 Tabellen, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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