Abstract
This paper proposes a lane marker recognition method that uses the steering angle in addition to image information. A Kalman filter was reconfigured by regarding the yaw motion and lateral motion of lane markers, previously treated as a stochastic process, as the state quantities of a vehicle model driven on the basis of the steering angle. Driving tests conducted with an actual vehicle verified that this method provides good tracking at the time of a steering input and avoids misrecognition of lane marker candidate points in inclement weather.