TY - JFULL AU - Hyun-Koo Kim and Sangmoon Lee and Ho-Youl Jung and Ju H. Park PY - 2010/9/ TI - Vehicle Position Estimation for Driver Assistance System T2 - International Journal of Transport and Vehicle Engineering SP - 1249 EP - 1254 VL - 4 SN - 1307-6892 UR - https://publications.waset.org/pdf/7075 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 44, 2010 N2 - 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. ER -