Systemidentifikation eines autonomen Fahrzeugs mit einer robusten, kamerabasierten Fahrspurerkennung in Echtzeit


In the research project FAUST at the University of Applied Sciences Hamburg an autonomes model car will be equipped with complex control and mapping systems for the participation at the Carolo-Cup of the Technical University Braunschweig. This thesis describes the development of a lane detection system that provides vital information to the control and mapping systems. Therefore the lane is approximated with a third order polynomial. Consequently the polynomial is used to identify the lateral position and the tangential heading angle of the model car to the lane as well as the radius of curvature of the lane.