Abstract:Lane information is essential for safe autonomous driving. In this article, we present a multisensor fusion framework for ego and adjacent lanes with a novel fusion quality measure and dynamic lane mode strategies for erroneous management. The framework fuses road marking lines based on Dempster-Shafer theory and tracks lanes with a particle filter. Then, a quality measure for each line is computed, integrating sensor coherence, availability as well as temporal continuity. This quality is essential to deploy d… Show more
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