%0 Journal Article
	%A Hyun-Koo Kim and  Sangmoon Lee and  Ho-Youl Jung and  Ju H. Park
	%D 2010
	%J International Journal of Transport and Vehicle Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 44, 2010
	%T Vehicle Position Estimation for Driver Assistance System
	%U https://publications.waset.org/pdf/7075
	%V 44
	%X We present a system that finds road boundaries and
constructs the virtual lane based on fusion data from a laser and a
monocular sensor, and detects forward vehicle position even in no lane
markers or bad environmental conditions. When the road environment
is dark or a lot of vehicles are parked on the both sides of the road, it is
difficult to detect lane and road boundary. For this reason we use
fusion of laser and vision sensor to extract road boundary to acquire
three dimensional data. We use parabolic road model to calculate road
boundaries which is based on vehicle and sensors state parameters and
construct virtual lane. And then we distinguish vehicle position in each
lane.
	%P 1250 - 1254