Robust and versatile lane tracking solutions can be developed using particle filter based tracking, stereo data and grayscale image processing. This paper presents multiple improvements for our previously published solutions. The lane model is extended by parameters such as width variation, vertical offset, and widths of lane markings. The increased flexibility in lane modeling is matched by a better use of measurement data, and the particle weighting process will benefit from two additional cues. The extensions in lane model and in particle weighting provide a more powerful description of the lane, but will also increase the stability and accuracy for the estimation of all lane parameters.
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