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.
Bayesian Road Estimation Using Onboard Sensors
IEEE Transactions on Intelligent Transportation Systems ; 15 , 4 ; 1676-1689
2014-08-01
1070396 byte
Article (Journal)
Electronic Resource
English
Bayesian Road Estimation Using Onboard Sensors
Online Contents | 2014
|Railway track location estimation using onboard inertial sensors
Taylor & Francis Verlag | 2022
|