Road geometry estimation and vehicle tracking using a single track model

This paper is concerned with the, by now rather well studied, problem of integrated road geometry estimation and vehicle tracking. The main differences to the existing approaches are that we make use of an improved host vehicle model and a new dynamic model for the road. The problem is posed within a standard sensor fusion framework, allowing us to make good use of the available sensor information. The performance of the solution is evaluated using measurements from real and relevant traffic environments from public roads in Sweden. The experiments indicates that the gain in using the extended host vehicle model is most prominent when driving on country roads without any vehicles in front.