While digital map has been applied to many advanced driver assistance system applications, one critical attribute - road/lane curvature - is not available in the existing digital maps. Curvature derivation using splines is a well-known method in the computer graphics modelling community; however, it was also found that the direct application of the spline method is often not appropriate for realtime safety applications due to to the resultant discontinuities in the curvature estimates and the lack of robustness against map data errors (CAMP, Enhanced digital mapping project final report, United States Department of Transportation, Washington, DC, 2004). This paper presents a method to reconstruct road curvature attributes in real time using digital map data based on the proposed circle centre search and circle selection algorithms. Simulation and experimental results demonstrated that the proposed method can deliver curvature estimates that meet the desired accuracy. The method was also applied to the curve over-speed warning system in on-going research project: Vehicle Infrastructure Integration - California. Some preliminary experimental results are also presented in this paper.


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    Title :

    Digital map as a virtual sensor - dynamic road curve reconstruction for a curve speed assistant


    Additional title:

    Digitalkarte als ein virtueller Sensor - dynamische Rekonstruktion von Straßekurven für einen Fahrgeschwindigkeit-Assistenten


    Contributors:

    Published in:

    Vehicle System Dynamics ; 46 , 12 ; 1141-1158


    Publication date :

    2008


    Size :

    18 Seiten, 17 Bilder, 15 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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