SWOV Catalogus

101637

A method for estimating the road configuration and vehicle state quantities that takes into account vehicle dynamic characteristics.
C 22988 (In: C 22454 CD-ROM) /85 /91 / ITRD E114775
Furusho, H. Mouri, H. & Shirato, R.
In: From vision to reality : proceedings of the 7th World Congress on Intelligent Transportation Systems ITS, Turin, Italy, 6-9 November 2000, 8 p., 1 ref.

Samenvatting This paper proposes a lane marker recognition method that uses the steering angle in addition to image information. A Kalman filter was reconfigured by regarding the yaw motion and lateral motion of lane markers, previously treated as a stochastic process, as the state quantities of a vehicle model driven on the basis of the steering angle. Driving tests conducted with an actual vehicle verified that this method provides good tracking at the time of a steering input and avoids misrecognition of lane marker candidate points in inclement weather.
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