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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Goldbeck, J., Huertgen, B., Lane detection and tracking by video sensors, Proceedings of IEEE Intelligent Transp. Systems, pp. 74-99, 1999.
Cramer, H., et. al, A new approach for tracking lanes by fusing image measurements with map data, IEEE Intelligent Vehicles Symposium, pp. 607-612, 2004.
Apostoloff, N., Zelinsky, A., Robust vision based lane tracking using multiple cues and particle filtering, IEEE Intelligent Vehicles Symposium, pp. 558-563, 2003.
McCall, J., Trivedi, M., Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation, IEEE Intelligent Transp. Systems, pp. 20-37, 2006.
Dickmanns, E., Mysliwets, B., Recursive 3-D Road and Relative Ego-State Recognition, IEEE Trans. on Pattern Analysis and Machine Intell., vol. 14, no. 2, pp. 199-213, 1992.
Welch, G., Bishop, G., An Introduction to the Kalman Filter, SIGGRAPH 2001, Annual Conference on Computer Graphics, course 8, 2001.
Bäumker, M., Rechenverfahren der Ingenieurvermessung, 2002.
Swartz, D., Clothoid Road Geometry Unsuitable for Sensor Fusion, IEEE Intelligent Vehicles Symposium, pp. 484-488, 2003.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gackstatter, C., Heinemann, P., Thomas, S., Klinker, G. (2010). Stable Road Lane Model Based on Clothoids. In: Meyer, G., Valldorf, J. (eds) Advanced Microsystems for Automotive Applications 2010. VDI-Buch(). Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16362-3_14
Download citation
DOI: https://doi.org/10.1007/978-3-642-16362-3_14
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-12647-5
Online ISBN: 978-3-642-16362-3
eBook Packages: EngineeringEngineering (R0)