Image-Based Lateral Position, Steering Behavior Estimation, and Road Curvature Prediction for Motorcycles

Pierre-Marie Damon 1 Hicham Hadj-Abdelkader 1 Hichem Arioui 1 Kamal Youcef-Toumi 2
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 Mechatronics Research Laboratory
Abstract : This letter presents an image-based approach to simultaneously estimate the lateral position of a powered-two-wheeled vehicle on the road, its steering behavior and predict the road curvature ahead of the motorcycle. This letter is based on the inverse perspective mapping technique combined with a road lanes detection algorithm capable of detecting straight and curved lanes. Then, a clothoid model is used to extract pertinent information from the detected road markers. Finally, the performance of the proposed approach is illustrated through simulations carried out with the well-known motorcycle simulator “BikeSim.” The results are very promising since the algorithm is capable of estimating, in real time, the road geometry and the vehicle location with a better accuracy than the one given by the commercial GPS.
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Pierre-Marie Damon, Hicham Hadj-Abdelkader, Hichem Arioui, Kamal Youcef-Toumi. Image-Based Lateral Position, Steering Behavior Estimation, and Road Curvature Prediction for Motorcycles. IEEE Robotics and Automation Letters, IEEE 2018, 3 (3), pp.2694-2701. ⟨10.1109/LRA.2018.2831260⟩. ⟨hal-01933660⟩

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