Abstract
This work develops an algorithm for estimating the lateral lane index of road vehicles on multi-lane roadways by correlating vehicle attitude measurements to terrain maps of the individual lanes of travel. To localize a vehicle, a Bayesian belief algorithm and a particle filter algorithm are described and applied off-line using data collected from two lanes along a local highway. Results demonstrate that terrain-based algorithms are capable of measuring lane index. Because these measurements are immune to lighting conditions, this solution is a good complement to existing lane-detection camera systems.
Original language | English (US) |
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Title of host publication | 2009 American Control Conference, ACC 2009 |
Pages | 707-712 |
Number of pages | 6 |
DOIs | |
State | Published - 2009 |
Event | 2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: Jun 10 2009 → Jun 12 2009 |
Other
Other | 2009 American Control Conference, ACC 2009 |
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Country | United States |
City | St. Louis, MO |
Period | 6/10/09 → 6/12/09 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering