Road curvature estimation using a new lane detection method

This paper mainly studies a new road curvature estimation method for self-driving vehicles. A new contour-based clustering and the parallel-based voting mechanism are used to detect the lanes. And curve fitting with least square error method is used to fit the lane models. Compared with other methods, this method can estimate the road curvature and width in advance to help a vehicle pass the curve in a reasonable speed and a proper turning angle.