Lane fusion system using forward-view and rear-view cameras

摘要

A method and system for computing lane curvature and a host vehicle's position and orientation relative to lane boundaries, using image data from forward-view and rear-view cameras and vehicle dynamics sensors as input. A host vehicle includes cameras at the front and rear, which can be used to detect lane boundaries such as curbs and lane stripes, among other purposes. The host vehicle also includes vehicle dynamics sensors including vehicle speed and yaw rate. A method is developed which computes lane curvature and the host vehicle's position relative to a lane reference path, where the lane reference path is derived from the lane boundaries extracted from a fusion of the front and rear camera images. Mathematical models provided in the disclosure include a Kalman filter tracking routine and a particle filter tracking routine.