Joint road geometry estimation and vehicle tracking

Control Engineering Practice

Volumn 15, Issue 12, 2007, Pages 1484-1494

  Eidehall, Andreas ^a,b   Pohl, Jochen ^a   Gustafsson, Fredrik ^b  

^a VOLVO CAR CORPORATION   (Sweden)

^b LINKÖPING UNIVERSITY   (Sweden)

Author keywords

Active safety; Centralised filtering; Extended Kalman filter; Road shape estimation; Sensor fusion; Target tracking

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; ESTIMATION; GEOMETRY; INTELLIGENT SYSTEMS; KALMAN FILTERS; SENSOR DATA FUSION; STATISTICAL METHODS;

ADAPTIVE CRUISE CONTROL; CENTRALISED FILTERING; INTELLIGENT DRIVER ASSISTANCE SYSTEMS; ROAD SHAPE ESTIMATION;

TRACKING (POSITION);

ADAPTIVE CONTROL SYSTEMS; ESTIMATION; GEOMETRY; INTELLIGENT SYSTEMS; KALMAN FILTERS; SENSOR DATA FUSION; STATISTICAL METHODS; TRACKING (POSITION);

EID: 34748849266     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2007.02.010     Document Type: Article

References (25)

1. Automotive collision avoidance system field operational test. (2000). Web page. National highway traffic safety administration. 〈www.nhtsa.dot.gov/people/injury/research/pub/ACAS/ACAS-fieldtest〉.
2. Blackman S.S. Multiple-target tracking with radar applications (1986), Artech House
3. Citroën. (2005). An innovation award for the LDWS. Press release. 〈www.citroen.com/CWW/en-US/NEWS/NEWSRELEASES/ArchivesNewsReleases/200506/23032005_PRIXAFIL.htm〉.
4. Dellaert, F., & Thorpe, C. (1997). Robust car tracking using Kalman filtering and Bayesian templates. In Proceedings of the SPIE conference on intelligent transportation systems (vol. 3207).
5. Dickmanns, E. D., & Zapp, A. (1986). A curvature-based scheme for improving road vehicle guidance by computer vision. In Proceedings of the SPIE conference on mobile robots.
6. Dickmanns E.D., and Zapp A. Autonomous high speed road vehicle guidance by computer vision. Selected papers from the 10th triennial world congress of the international federation of automatic control (1987), Pergamon press, Munich Germany 221-226
7. Eidehall, A., & Gustafsson, F. (2006). Obtaining reference road geometry parameters from recorded sensor data. In Proceedings of IEEE intelligent vehicles symposium, Tokyo, Japan.
8. Eidehall, A., Pohl, J., Gustafsson, F., & Ekmark, J. (2007). Towards autonomous collision avoidance by steering. IEEE transactions on Intelligent Transportation Systems, 8(1), 84-94.
9. Gern, A., Franke, U., & Levi, P. (2000). Advanced lane recognition-Fusing vision and radar. In Proceedings of the IEEE intelligent vehicles symposium. Dearborn, MI, USA.
10. Gern, A., Franke, U., & Levi, P. (2001). Robust vehicle tracking fusing radar and vision. In Proceedings of the international conference on multisensor fusion and integration for intelligent systems (pp. 323-328).
11. Gillespie T.D. Fundamentals of vehicle dynamics (1992), Society of Automotive Engineers, Inc
12. Gustafsson F. Adaptive filtering and change detection (2000), Wiley, New York
13. Ishida S., and Gayko J.E. Development evaluation and introduction of a lane keeping assistance system. Proceedings of the IEEE intelligent vehicles symposium (2004), Parma, Italy 943-944
14. Kailath T., Sayed A.H., and Hassibi B. Linear estimation (2000), Prentice-Hall, Englewood Cliffs, NJ
15. Kalman R.E. A new approach to linear filtering and prediction problems. Transactions of the ASME-Journal of Basic Engineering 82 (1960) 5-45
16. Kay S.K. Fundamentals of statistical signal processing, volume 1: Detection theory. Prentice-hall signal processing (1998), Prentice-Hall, Upper Saddle River, NJ
17. Ma B., Lakshmanan S., and Hero III A.O. Simultaneous detection of lane and pavement boundaries using model-based multisensor fusion. IEEE Transactions on Intelligent Transportation Systems 1 3 (2000) 135-147
18. Melo J., Naftel A., Bernardino A., and Santos-Victor J. Detection and classification of highway lanes using vehicle motion trajectories. IEEE Transactions on Intelligent Transportation Systems 7 2 (2006) 188-200
19. Pilutti T., and Ulsoy A.G. Fuzzy-logic-based virtual rumble strips for road departure warning systems. IEEE Transactions on Intelligent Transportation Systems 4 1 (2003) 1-12
20. Polychronopoulos, A., Amditis, A., Floudas, N., & Lind, H. (2004). Integrated object and road border tracking using 77 Ghz automotive radars. In Proceedings of the IEE radar, sonar and navigation (Vol. 151. pp. 375-381).
21. Rugh W.J. Linear system theory. Information and system sciences series. 2nd ed. (1996), Prentice-Hall, Upper Saddle River, NJ
22. von Trzebiatowski M.S., Gern A., Franke U., Kaeppeler U.-P., and Levi P. Detecting reflection posts-Lane recognition on country roads. Proceedings of the IEEE intelligent vehicles symposium (2004), Parma, Italy 304-309
23. Vägutformning 94 version S-2 (1994). Technical Report, Swedish National Road Administration.
24. Weigel H., Cramer H., Wanielik G., Polychronopoulos A., and Saroldi A. Accurate road geometry estimation for a safe speed application. Proceedings of the IEEE intelligent vehicles symposium (2006), Japan 516-521
25. Zomotor, Z., & Franke, U. (1997). Sensor fusion for improved vision based lane recognition and object tracking with range-finders. In Proceedings of the IEEE conference on intelligent transportation systems.