1. Highly Curved Lane Detection Algorithms Based on Kalman Filter.
- Author
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Dorj, Byambaa, Hossain, Sabir, and Lee, Deok-Jin
- Subjects
KALMAN filtering ,TRAFFIC accidents ,ALGORITHMS ,AUTOMOBILE steering gear ,DRIVERLESS cars ,PAPER arts ,AUTONOMOUS vehicles ,PARABOLA - Abstract
The purpose of the self-driving car is to minimize the number casualties of traffic accidents. One of the effects of traffic accidents is an improper speed of a car, especially at the road turn. If we can make the anticipation of the road turn, it is possible to avoid traffic accidents. This paper presents a cutting edge curve lane detection algorithm based on the Kalman filter for the self-driving car. It uses parabola equation and circle equation models inside the Kalman filter to estimate parameters of a using curve lane. The proposed algorithm was tested with a self-driving vehicle. Experiment results show that the curve lane detection algorithm has a high success rate. The paper also presents simulation results of the autonomous vehicle with the feature to control steering and speed using the results of the full curve lane detection algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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