Linear Parameter Varying Observer for Lane Estimation Using Cylinder Domain in Vehicles

Abstract

In this paper, to address the vehicle state estimation problem, we propose an approach that can overcome the practical problems associated with vehicle lane changes on highways. The vehicle state with respect to the road, which is called the lateral offset, jumps in camera vision sensors when the vehicle changes lanes. Thus, we solve this state jump problem by translating the state estimation problem into a new domain called the cylinder domain. We propose a linear parameter varying (LPV) observer to estimate the vehicle states by considering the lane width variation during a lane change. The lane information is estimated by the proposed LPV observer in the cylinder domain; thus, the estimated lane information does not jump. Consequently, the lane estimation performance can be improved during the transient response when the lateral position of the autonomous vehicle crosses over between the original and target lanes in the event of a lane change. The proposed algorithm is validated with real vehicle driving data obtained using a camera vision sensor. © 2000-2011 IEEE.