Dickmanns and Mysliwetz
1992 : The general
problem of recognizing both horizontal and vertical road curvature parameters while
driving along the road has been solved recursively. A differential geometry
representation decoupled for the two curvature components has been selected.
Based on the planar solution of  and its refinements, a simple spatio-temporal
model of the driving process allows us to take both spatial and temporal
constraints into account effectively. The estimation process determines nine
road and vehicle state parameters recursively at 25 Hz (40 ms) using four Intel
80286 and one 386 microprocessor. Results with the test vehicle (VaMoRs), a
5-ton van, are given for a hilly country road.