Long distance lane boundary visualisation on curved roads with a slope

This article describes an approach of long distance lane boundary visualisation especially on curved roads with a slope. We came out from a standard model of lane boundaries, defined in Opel Gruppe, (2000), which has no features for a road slope angle, and made several modifications in order to include the slope angle into the visualisation algorithm. The new road model uses a slightly enhanced computation of the real world longitudinal (x) and lateral (y) distance. We make a visual comparison between the normal and the enhanced model and decide if a precision enhancement is necessary. Additionally we simulate the slope angle of the road by its vertical curvature and compare it with our model.