Abstract
For level 2 automated driving, adaptive cruise control (ACC) and lane keeping assistance system (LKAS) are core technology which require accurate and robust estimation of vehicle lateral and angular deviation in various road environments. In this paper, for lane detection system, we apply moving horizon estimation (MHE) to obtain improved estimation performance even under disturbing situation like junction, for example. The advantage of the proposed method is verified by offline estimation using experimental running data on metropolitan expressway.
