Method for producing three-dimensional road model for supporting driver during quadrature control of vehicle, involves modeling road characteristics by combination of clothoid model and B-spline-model

摘要

The method involves modeling road characteristics (SV) of a road (S) by combination of a clothoid model and a B-spline-model. A lateral position of a lane middle is determined with distance from a lateral offset of a vehicle, yaw angle of the vehicle, a curvature of the road characteristics and change of the curvature of the road characteristics, so that the change of the curvature is modeled by B-splines. Vertical characteristics of a left lane edge and vertical characteristics of a right lane edge are modeled by the separate B-splines in a separate manner.