Road prediction using video for integrated driver support

作     者：Hermans, FJJ 

作者机构：LucasVar Automot Adv Prod Dev Solihull B90 4GW W Midlands England 

出 版 物：《COMPUTING & CONTROL ENGINEERING JOURNAL》 (Comput Control Eng J)

年 卷 期：1999年第10卷第4期

页      面：169-175页

核心收录：

主　　题：least squares approximations performance analysis simulated data spatial module road prediction automated highways video signal processing Interpolation and function approximation (numerical analysis) road vehicles road model Traffic engineering computing video camera vehicle trajectory prediction spatial structure distance measurement noise robustness dynamic structure Road-traffic system control recursive least squares based estimator Control engineering computing dynamic module road parameter change response Video signal processing typical road features Numerical analysis integrated driver support varying measurement noise 

摘      要：The use of a video camera for predicting vehicle trajectory is reviewed. The data available from the video camera, and the features which can be used for trajectory prediction and how these relate to the real world, are analysed. To accurately predict the road ahead, a model is used, consisting of a spatial and dynamic module. A recursive least square based estimator is designed based on the road model. The estimator is robust with respect to variations in the horizon, deals with distance and varying measurement noise, and handles the spatial/dynamic structure. The results are presented in two separate parts. The first deals with the estimation and comprises simulated data to illustrate robustness, and video data to show typical road features. The second is the performance analysis. It highlights the response to changes in road parameters and the subsequent correlation with standard road prediction techniques.