Joint road geometry estimation and vehicle tracking

Detection and tracking of other vehicles and estimation of lane geometry will be required for many intelligent driver assistance systems in the future. By combining the processing of these two features into a sin le filter, better utilisation of the available information can be achieved. For instance, it is demonstrated that it is possible to improve the road shape estimate by including information about the lateral movement of leading vehicles. Statistical evaluation is done by comparing the estimated parameters to true values in varying road and weather conditions. The performance is also related to typical requirements of active safety applications such as adaptive cruise control and a new safety function called emergency lane assist. (C) 2007 Elsevier Ltd. All rights reserved.