A method and apparatus for accurate estimation of forward path geometry of
a vehicle based on a two-clothoid road model are presented. Road data
provided by a camera or a radar system is collected 200 and a full
measurement transfer function of the two-clothoid model is computed 202.
The near-range and the far-range clothoid coefficients are estimated
simultaneously 204; and the forward path of the vehicle is estimated using
the data provided by the two-clothoid model 206.
