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| Road curvature estimation based on linear lane model |
| 1.School of Mechanical Science ＆ Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China; 2.State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China |
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Abstract In driver assistance systems of lane departure warning， prevention and lane keeping, to solve the problems of incapable estimating the curvature in traditional linear model and enormous computing work in curve fitting method, an innovative curvature estimation method was proposed based on linear model with global description in lane markings and with line fitting to candidate points of far end.According to abundant candidate points with Hough transformation of linear detection, the lane detection and curvature estimation were robustly achieved by the proposed method. The road curvature estimation method was validated by a real vehicle test with GPS. The results show that the proposed method has good curvature estimation accuracy with real time capability.
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2012, Vol. 33 
