the sign of curvature in Lane Keeping Assist System

Hi All,

I'm new to simulink and planning to use the Lane Keeping Assist System from automated driving toolbox.

I've noticed that the input curvature of that block is a signed variable, and according to the explanation,

the curvature is positive when the road curves toward the positive Y axis of the global coordinate system.

Simulate lane-keeping assistance using adaptive model predictive controller - Simulink (mathworks.com)

However, what I don't know is, how is this global coordinate system defined.

According to the following image, X-Y is the global coordinate, and Vx-Vy is the vehicle coordinate, but it's rather hard to find out the relationship between the global coordinate and the vehicle coordinate.

Can I assume the global coordinate is the lane coordinte (Lx-Ly, where Lx is the tangent of the lanecenterline)？

And under this assumption, a curve to the left will always have a positive curvature, and a curve to the right will have negative curvature. Is that correct?

Thank you very much in advance!

[shaik thouheed]

May I know how are you finding the curvature and other parameters.

As you know we have to pass the below inputs to LKA model in real time simulation.

1.heading angle

2.curvature

3.curvature derivative

4.Valid length of each road boundary, accounting for any other obstacles.

Any Computer vision technique is followed to find all the above parameters?

Let me know your valuable inputs.

Thanks

[Yao Xiao]

In my application, the focus was not the CV algorithm, so I just get the ground truth values from the environment simulator directly.