Obtaining reference road geometry parameters from recorded sensor data

Author

Eidehall, Andreas ; Gustafsson, Fredrik

Author_Institution

Vehicle Dynamics & Active Safety, Volvo Car Corp., Goteborg

fYear

0

fDate

0-0 0

Firstpage

256

Lastpage

260

Abstract

In many applications of tracking and sensing systems, reference data for tuning and verification of system performance is unavailable. In this article the problem of automotive on-line road shape estimation is discussed and a method for obtaining reference data for this application is presented. The reference data is based on a least squares curve which is fitted geometrically to the lane boundaries. It does not require any extra sensors or other hardware. It is also shown that the accuracy of the estimate is high enough to be used as a reference in most applications

Keywords

curve fitting; geometry; least squares approximations; road traffic; road vehicles; tracking; traffic engineering computing; automotive online road shape estimation; automotive tracking; curve fitting; lane geometry estimation; lane tracking; least squares curve; recorded sensor data; reference road geometry; Automotive engineering; Curve fitting; Geometry; Global Positioning System; Hardware; Least squares methods; Navigation; Radar tracking; Roads; Shape; automotive tracking; curve fitting; lane geometry estimation; lane tracking; least squares;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2006 IEEE

Conference_Location

Tokyo

Print_ISBN

4-901122-86-X

Type

conf

DOI

10.1109/IVS.2006.1689638

Filename

1689638