ROAD_MODEL_FUSION

Road Model Fusion for AD/ADAS functions

0. Introduction :-

We have an array of camera sensors installed in front of the ego vehicle for ADAS/AD applications. The goal of this project is to estimate the Road Model which includes Ego Lane Geometry and Road Grid

Fig 1 : (Inputs) Measurements: Ego Lane Boundary Camera detections in the form of Clothoid Parameters

1. Estimation Output :-

1.1 Road Model (Ego Lane Boundary Line Fusion + Road Geometry + Road Grid) :-

2. High Level Design:-

2.1 Line Measurements To Line Track Association for Ego Lane Boundary Estimation :-

2.2 Ego Lane Center Line Estimation :-

2.3 Road Model Computation :-

3. High Level Fusion Architecture:-

4. Road Grid Parameterization:-