Matthias Komar

Map based road boundary estimation

Knowledge about the road shape is a key element for driver assistance systems which support the driver in complex scenarios like construction sites. Systems only using information derived from lane markings reach a limit here. The paper presents an approach to estimate road boundaries based on static objects bounding the road. A map based environment description and an interpretation algorithm identifying the road boundaries in the map are used. Two approaches are presented for estimating the map, one based on a radar sensor, one on a mono video camera. Besides that two fusion approaches are described. The estimated boundaries are independent of road markings and as such can be used as orthogonal information with respect to detected markings. Results of practical tests using the estimated road boundaries for a lane keeping system are presented.

An Assistance System for Construction-Sites

Abstract The contribution describes an assistance system, which supports the driver with lateral functions in construction-sites. This system is based on short-range radar sensors for side observation. The observation ahead of the vehicle is based on 77Ghz long range radar and a mono camera. From the camera images, a 3D reconstruction is computed. The result is fused with data of the imaging radar sensor ARS300 using a so-called “Occupancy Grid” approach. Based on this, road boundaries are determined. The contribution shows further how road boundaries can be determined from this grid information. Together with dynamic objects and roadway markings, a current right and left delimitation of the allowed driving corridor is determined and a desired path for the ego vehicle is computed. For the lateral support, a lane centring function is combined with a loose lateral guidance called “virtual wall”. The “virtual wall” function is described in detail and the resulting performance in a test construction-site with truck dummy vehicle is shown.