Method and apparatus for estimation of forward path geometry of a vehicle based on a two-clothoid road model

摘要

A method and apparatus for accurate estimation of forward path geometry of a vehicle based on a two-clothoid road model are presented. Road data provided by a camera or a radar system is collected 200 and a full measurement transfer function of the two-clothoid model is computed 202. The near-range and the far-range clothoid coefficients are estimated simultaneously 204; and the forward path of the vehicle is estimated using the data provided by the two-clothoid model 206.