PublicationDetail

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

C. Gackstatter, S. Thomas, P. Heinemann, G. Klinker
Stable Road Lane Model Based on Clothoids
14th International Forum on Advanced Microsystems and Automotive Applications, Berlin, Germany, May 10-11 2010 (bib)

In the following, the main concepts of a road lane model are presented that keeps track of an arbitrary number of lane borders. Information from an existing lane detection device, a gyrosensor, and map data are merged and filtered to create a road model with a desired number of road lines. The model is based on clothoids and continuously provides positions, angles, and curvatures of the border lines of the vehicle’s own lane as well as of several neighboring lanes. Particularly on urban roads, in situations with upcoming turning lanes, or when the lane detection system fails to detect road lines, the model can still provide plausible information. This information significantly simplifies the situation analysis in further algorithms that rely on a lane detection system and require detailed information on current road lanes.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each authors copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.



Edit | Attach | Refresh | Diffs | More | Revision r1.13 - 30 Jan 2019 - 15:16 - LeslieCasas

Lehrstuhl für Computer Aided Medical Procedures & Augmented Reality    rss.gif