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 [7] 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.