Investigation of automatic path tracking using an extended Kalman filter

✍ Scribed by Hiroshi Mouri; Shigeki Satoh; Hiroyuki Furusho; Masao Nagai

• Publisher: Elsevier Science
• Year: 2002
• Tongue: English
• Weight: 300 KB
• Volume: 23
• Category: Article
• ISSN: 0389-4304
• DOI: 10.1016/s0389-4304(01)00171-0

✦ Synopsis

This paper proposes a lane marker recognition method that uses the steering angle in addition to image information. A Kalman filter was reconfigured regarding the yaw motion and lateral motion of lane markers, previously treated as a stochastic process, as the states of a vehicle model driven on the basis of the steering angle. Driving tests conducted with an actual vehicle verified that this method provides good tracking at the time of steering input and avoids misrecognition of lane marker candidate points in inclement weather.