Predictive virtual lane has been known that it can cope with up to several sampling period camera failure providing improved lateral control performance of lane keeping system. In this paper, we propose an improved lane estimation scheme using a vehicle kinematic lateral motion model and clothoidal road constraints to resolve a longer failure than that considered in the previous study. The lane estimation system gives virtual lane information to the lateral control system. The developed algorithm was validated via computational simulation results with CarSim and MATLAB/Simulink, and experimental results with a test vehicle equipped with an AutoBox from dSPACE.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lane estimation using a vehicle kinematic lateral motion model under clothoidal road constraints


    Contributors:


    Publication date :

    2014-10-01


    Size :

    484807 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Double-lane vehicle lane changing guiding method under vehicle-road cooperation

    LI XUN / MA WENZHE / ZHANG YUE et al. | European Patent Office | 2021

    Free access

    Kinematic road gradient estimation

    YU HAI / LU JIANBO / BOESCH MATHEW ALAN et al. | European Patent Office | 2016

    Free access

    VEHICLE VISION SYSTEM USING KINEMATIC MODEL OF VEHICLE MOTION

    TURK JAMES | European Patent Office | 2017

    Free access

    Vehicle vision system using kinematic model of vehicle motion

    TURK JAMES | European Patent Office | 2017

    Free access