Abstract
This paper describes an approach to predict the road course with actual measured radar objects combined with an “Adaptive Cruise Control"-System. In the presented algorithm, the objects are divided into four classes: static right of the road, static left of the road, dynamic on the actual lane and dynamic on the opposite lane. On the basis of this classification and some filter methods, the objects of each class are connected by a “Bezier Spline”-Function. For the final road prediction a weighted average of the four actual “Bezier-Splines” is calculated. Compared with other road prediction systems like vision-only approaches, our system is resistant to weather influences and hardly or non visible road markings. Real road tests under various conditions have shown the effectiveness of this approach.
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