This paper proposes a lane marker recognition method that uses the steering angle in additionto image information. A Kalman filter was reconfigured by regarding the yaw motion andlateral motion of lane markers, previously treated as a stochastic process, as the statequantities of a vehicle model driven on the basis of the steering angle. Driving tests conductedwith an actual vehicle verified that this method provides good tracking at the time of asteering input and avoids misrecognition of lane marker candidate points in inclementweather.
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