== Abstract ==

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 robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for modeling multiple lanes in a vehicle in real time is presented. Information about traffic lanes, derived by cameras and other environmental sensors, that is represented as features, serves as input for an iterative expectation-maximization method to estimate a lane model. The generic and modular concept of the approach allows to freely choose the mathematical functions for the geometrical description of lanes. In addition to the current measurement data, the previously estimated result as well as additional constraints to reflect parallelism and continuity of traffic lanes, are considered in the optimization process. As evaluation of the lane estimation method, its performance is showcased using cubic splines for the geometric representation of lanes in simulated scenarios and measurements recorded using a development vehicle. In a comparison to ground truth data, robustness and precision of the lanes estimated up to a distance of 120 m are demonstrated. As a part of the environmental modeling, the presented method can be utilized for longitudinal and lateral control of autonomous vehicles.

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== Original document ==

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The different versions of the original document can be found in:

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* [http://arxiv.org/abs/1706.01631 http://arxiv.org/abs/1706.01631]

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* [http://arxiv.org/pdf/1706.01631 http://arxiv.org/pdf/1706.01631]

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* [http://xplorestaging.ieee.org/ielx7/7987634/7995688/07995904.pdf?arnumber=7995904 http://xplorestaging.ieee.org/ielx7/7987634/7995688/07995904.pdf?arnumber=7995904],

: [http://dx.doi.org/10.1109/ivs.2017.7995904 http://dx.doi.org/10.1109/ivs.2017.7995904]

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* [https://dblp.uni-trier.de/db/journals/corr/corr1706.html#AbramovBHL17 https://dblp.uni-trier.de/db/journals/corr/corr1706.html#AbramovBHL17],

: [https://ui.adsabs.harvard.edu/abs/2017arXiv170601631A/abstract https://ui.adsabs.harvard.edu/abs/2017arXiv170601631A/abstract],

: [https://arxiv.org/abs/1706.01631 https://arxiv.org/abs/1706.01631],

: [https://ieeexplore.ieee.org/document/7995904 https://ieeexplore.ieee.org/document/7995904],

: [https://academic.microsoft.com/#/detail/2963498784 https://academic.microsoft.com/#/detail/2963498784]

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