Title :
Clothoid road geometry unsuitable for sensor fusion clothoid parameter sloshing
Author :
Schwartz, David A.
Author_Institution :
Delco Electron. Syst., Malibu, CA, USA
Abstract :
The cubic polynomial clothoidal approximation is widely used for road lane modeling in vehicle applications such as adaptive cruise control, collision warning, lane departure warning, autonomous steering, etc. For applications that apply multi-sensor data fusion to form the estimate of the road lane model, we demonstrate that the cubic polynomial clothoidal approximation is a poor parameter space due to large sensitivity to coefficient errors. Small systematic or random errors (noise) lead to substantially similar lane geometries, but significantly different clothoid parameters.
Keywords :
geometry; parameter estimation; polynomial approximation; position control; random noise; road vehicles; sensor fusion; sloshing; adaptive cruise control; autonomous steering; clothoid parameter sloshing; clothoid road geometry; collision warning; cubic polynomial clothoidal approximation; lane departure warning; lane geometry; multisensor data fusion; random errors; road lane modeling; Geometry; Least squares approximation; Mobile robots; Parameter estimation; Polynomials; Programmable control; Remotely operated vehicles; Road vehicles; Rotation measurement; Sensor fusion;
Conference_Titel :
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN :
0-7803-7848-2
DOI :
10.1109/IVS.2003.1212959