Garcia-Fernandez, Angel F 
ORCID: 0000-0002-6471-8455, Hammarstrand, Lars, Fatemi, Maryam and Svensson, Lennart
(2014)
Bayesian Road Estimation Using Onboard Sensors.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 15 (4).
pp. 1676-1689.
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Abstract
This paper describes an algorithm for estimating the road ahead of a host vehicle based on the measurements from several onboard sensors: a camera, a radar, wheel speed sensors, and an inertial measurement unit. We propose a novel road model that is able to describe the road ahead with higher accuracy than the usual polynomial model. We also develop a Bayesian fusion system that uses the following information from the surroundings: lane marking measurements obtained by the camera and leading vehicle and stationary object measurements obtained by a radar-camera fusion system. The performance of our fusion algorithm is evaluated in several drive tests. As expected, the more information we use, the better the performance is. © 2014 IEEE.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Camera, information fusion, radar, road geometry, unscented Kalman filter (UKF) |
| Depositing User: | Symplectic Admin |
| Date Deposited: | 22 Jan 2020 09:57 |
| Last Modified: | 16 Mar 2024 16:34 |
| DOI: | 10.1109/TITS.2014.2303811 |
| Related URLs: | |
| URI: | https://livrepository.liverpool.ac.uk/id/eprint/3071562 |
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