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

Chang Mook Kang, Seung Hi Lee, Chung Choo Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1066-1071
Number of pages6
ISBN (Electronic)9781479960781
DOIs
Publication statusPublished - 2014 Nov 14
Event2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, China
Duration: 2014 Oct 82014 Oct 11

Publication series

Name2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

Other

Other2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
CountryChina
CityQingdao
Period14/10/814/10/11

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Kang, C. M., Lee, S. H., & Chung, C. C. (2014). Lane estimation using a vehicle kinematic lateral motion model under clothoidal road constraints. In 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 (pp. 1066-1071). [6957829] (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2014.6957829