Lane estimation using a vehicle kinematic lateral motion model under clothoidal road constraints

Predictive virtual lane has been known that it can cope with up to several sampling period camera failure providing improved lateral control performance of lane keeping system. In this paper, we propose an improved lane estimation scheme using a vehicle kinematic lateral motion model and clothoidal road constraints to resolve a longer failure than that considered in the previous study. The lane estimation system gives virtual lane information to the lateral control system. The developed algorithm was validated via computational simulation results with CarSim and MATLAB/Simulink, and experimental results with a test vehicle equipped with an AutoBox from dSPACE.