This paper describes an algorithm for estimating the road ahead of a host vehicle based on the measurements from several onboard sensors: a camera, a radar, wheel speed sensors, and an inertial measurement unit. We propose a novel road model that is able to describe the road ahead with higher accuracy than the usual polynomial model. We also develop a Bayesian fusion system that uses the following information from the surroundings: lane marking measurements obtained by the camera and leading vehicle and stationary object measurements obtained by a radar–camera fusion system. The performance of our fusion algorithm is evaluated in several drive tests. As expected, the more information we use, the better the performance is.


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    Titel :

    Bayesian Road Estimation Using Onboard Sensors


    Beteiligte:


    Erscheinungsdatum :

    01.08.2014


    Format / Umfang :

    1070396 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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