Path accumulation and ego-motion compensation for target path following and situational awareness

The basis of this study is to create an insight for target vehicle path following or improving situational awareness by using path accumulation and ego-motion compensation. Possible application variants of the strategy, for highways and urban roads are also described. The study is also extended for enhancing path accumulation in noisy environment or sensing by making use of spline based curve approximation. The strategy is verified with the help of an approximate vehicle model and leader path following using kinematic controller. The paper also depicts some of the potential real — world challenges towards application of the proposed strategy along with set of remedies.