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Interacting multiple model road curvature estimation

Accurate road curvature estimation is essential to many drive assistance systems and active safety systems, such as curve speed warning, lane departure warning, and lane keeping assistance. To improve the overall performance of road curvature estimation and path prediction, we proposed an interacting multiple model (structure) approach in curvature filtering, so that the curvature estimates for straight road and pure arc can be more accurate while the transitional curvature change between straight and constant radius curve can still be accounted for.