Estimation of heading angle through analysis by area size of lane

This paper describes an algorithm for the estimation method of ego-vehicle´s heading angle. Why the angle is important is that the heading angle gives it the predictable information for the vehicle localization while driving. If driver can know about vehicle localization, a collision is predictable in advance. The main idea is that area size of the lane changing uniformly according to the vehicle heading angle while the vehicle is moving on uniform velocity when vehicle changes the lane. The proposed algorithm has 2 steps mainly. Firstly, road lane belonging to driving vehicle is detected. Secondly, the area size of the lane can be calculated. In a result, the area size change regularly according to the fixed velocity of the vehicle under the uniform velocity. The virtual images are used to guarantee uniform velocity and heading angle of vehicle.