Abstract
Identifying the vehicle’s position on the multi-lane roads is necessary for the route guidance system. The basic method to figure out the running lane is to detect the lane change behavior by using cameras. When the vehicle runs on the roads with unclear lane markings, a yaw rate sensor is useful to detect the lane change maneuver. But through the curve, it is difficult for the system to distinguish turning maneuver and lane-change maneuver only from the yaw rate sensor's signal. To distinguish those two maneuvers, we used the radius of road curvature from the map data additionally.
