Stable road lane model based on clothoids

C. Gackstatter, P. Heinemann, S. Thomas, G. Klinker

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

24 Scopus citations

Abstract

In the following, the main concepts of a road lane model that keeps track of an arbitrary number of lane borders are presented. Information from an existing lane detection device, a gyrosensor, and map data are merged and filtered to create a road model with a desired number of road lines. The model is based on clothoids and continuously provides positions, angles, and curvatures of the border lines of the vehicle's own lane as well as of several neighboring lanes. Particularly on urban roads, in situations with upcoming turning lanes, or when the lane detection system fails to detect road lines, the model can still provide plausible information. This information significantly simplifies the situation analysis in further algorithms that rely on a lane detection system and require detailed information on current road lanes.

Original languageEnglish
Title of host publicationAdvanced Microsystems for Automotive Applications 2010
Subtitle of host publicationSmart Systems for Green Cars and Safe Mobility
Pages133-143
Number of pages11
DOIs
StatePublished - 2010
Event14th International Forum on Advanced Microsystems for Automotive Applications, AMAA 2010 - Berlin, Germany
Duration: 10 May 201011 May 2010

Publication series

NameAdvanced Microsystems for Automotive Applications 2010: Smart Systems for Green Cars and Safe Mobility

Conference

Conference14th International Forum on Advanced Microsystems for Automotive Applications, AMAA 2010
Country/TerritoryGermany
CityBerlin
Period10/05/1011/05/10

Keywords

  • Clothoids
  • Driver assistance
  • Kalman filter
  • Lane model
  • Road model
  • Sensor data fusion

Fingerprint

Dive into the research topics of 'Stable road lane model based on clothoids'. Together they form a unique fingerprint.

Cite this