Lane Model and Calculation of Lane Geometric Structure and Vehicle Deviation Angle and Position in Lane for Intelligent Vehicle

Lane model, lane geometric structure calculation, and vehicle deviation angle and position calculation is a crucial part in automatic drive of intelligent vehicle. In this paper, we introduce a lane model and calculation equations of lane geometric structure and vehicle deviation angle and position in lane. Firstly, we establish the world coordinate system and derive the lane boundary equation based on the actual lane alignment. Secondly, we derive the lane boundary equation in the camera coordinate system through the coordinate transformation. Then we build up the image coordinate system and the pixel coordinate system and derive the lane projective parameter model. Finally, we derive the calculation equations of lane geometric structure and vehicle deviation angle and position in lane. For we introduce the camera roll angle, the lane curvature change rate, and the reasonable assumption in the derivation, the lane model and the calculation are more general and accurate.