Investigation of automatic path tracking using an extended Kalman filter |
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| Institution: | 1. Vehicle Research Laboratory, Nissan Research Centre, Nissan Motor Co. Ltd., 1. Natsushima-cho, Yokosuka 237-8523, Japan;2. Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakamachi, Koganei-shi, Tokyo 184-8588, Japan;1. Division of Vascular and Interventional Radiology, Department of General Surgery, Nanfang Hospital, Southern Medical University, Guangzhou, China;2. Department of Interventional Radiology, Shantou Central Hospital Affiliated Hospital of Sun Yat-Sen University, Shantou, China;1. National Physical Laboratory (NPL), Hampton Road, Teddington TW11 0LW, UK;2. Imperial College London, Exhibition Road, London SW7 2AZ, UK;3. Universidad de Málaga, Av. de Cervantes, 2, 29016 Málaga, Spain |
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| Abstract: | 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. |
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