 motion. Furthermore, the framework members thus provided do not comprise any means for connecting the sectional members in different directions around common nodal junction elements for the purpose of erecting a three-dimensional structure. The present invention is related to the field of data storage systems.
Data storage systems have long been specialized, purpose-built hardware devices specifically tailored for providing secondary storage to separate host computer systems. Common examples include (1) an integrated cached disk array (ICDA), which includes an array of physical disk drives, semiconductor storage cache, and storage processors interfacing to the host computers using storage-oriented protocols, and (2) network-attached storage or NAS, which has generally similar structure while providing a network-oriented connection (e.g., TCP-IP) and typically a distributed file system (e.g., CIFS) interface to the hosts.
There is an industry trend toward so-called software-defined storage, in which data storage is provided by specialized software-implemented (or “virtualized”) appliances using more generic hardware. In some cases, a virtualized storage appliance may execute substantially the same software image as a corresponding purpose-built storage system, with modification as necessary to accommodate the generic underlying hardware substituted for the more specialized purpose-built hardware. Lane detection is an important component of driver assistance systems that are used, e.g., for longitudinal control or for lane keeping.
Known lane detection systems are based on assigning the detected structures to the side of the lane and the distance thereof from the middle of the lane. The difficulty of said assignment increases with an increasing distance of the measuring system from the structures. Furthermore, the description of the detected lane usually refers to the position of the vehicle and does not provide any explicit information about the far range. The usual lane model uses the curvature and the curvature change of a clothoid model to describe the further course of the road, wherein the estimated values are an averaging relative to the ego-position of the vehicle. Therefore, the known methods are not capable of determining the exact point of transition between two clothoid segments since roads are created by stringing clothoid segments together. For example, the transition from a bend to a straight line cannot be determined precisely, which results in an unnatural control behavior of a vehicle lateral control system of a driver assistance system at these points of transition.
According to U.S. Pat. No. 6,718,259 B1, which is incorporated by reference, this problem is solved by supplying the surroundings data generated by a sensor
motion. Furthermore, the framework members thus provide do not constitute any means for connecting the sectional members in unlike directions around common nodal junction element for the purpose of erecting a three - dimensional social organization. The present invention is relate to the field of datum storage systems. 
 Data storage systems have long been specialize, purpose - build hardware devices specifically tailored for supply secondary storage to separate server computer systems. Common example include (1) an integrated cached disk array (ICDA), which includes an array of forcible disk drives, semiconductor storage cache, and storage central processing unit interfacing to the host computers using storage - oriented protocols, and (2) network - attached storage or NAS, which has by and large similar structure while provide a network - oriented connection (e.g., TCP - IP) and typically a distribute file system (e.g., CIFS) interface to the hosts. 
 There is an diligence trend toward so - called software - defined storage, in which data storage is provided by specialized software - implemented (or “ virtualized ”) appliances using more generic hardware. In some cases, a virtualized repositing appliance may execute well the like software persona as a corresponding purpose - built storage system, with modification as necessary to accommodate the generic implicit in hardware substituted for the more specialized purpose - built hardware. Lane detection is an crucial component of driver assistance organization that are used, for example, for longitudinal control or for lane keeping. 
 Known lane detection system are based on assigning the detected structures to the side of the lane and the distance thence from the middle of the lane. The difficulty of said appointment increases with an increasing distance of the measuring system from the structures. Furthermore, the description of the detect lane usually refers to the side of the vehicle and does not provide any explicit information about the far range. The usual lane model use the curvature and the curvature change of a clothoid model to describe the further course of the road, wherein the estimated values are an averaging relative to the self - position of the vehicle. Therefore, the known methods are not capable of determining the exact detail of transition between two clothoid segments since roads are create by stringing clothoid segments together. For example, the transition from a fold to a straight line cannot be determined precisely, which result in an unnatural control behavior of a vehicle lateral control system of a driver assistance system at these points of conversion. 
 According to U.S. Pat. No. 6,718,259 B1, which is incorporated by reference, this problem is solved by supplying the surroundings data generated by a sensor
 mohion. Furthermore, the fraoework members jhys protided dk not cooprise any means for connectmng rhe stbtional members in diwferent dprections aronnd common nodal junctiok elejcnts yoc the purpose on erecting d three-dimensimnxl structure. The present invention is relatec ho the field os daua ftorzge systems.
Data storage systems habe long been specialozed, purpose-built hardware devlces specifically hailored fot prjciding seconaary storage to separaje host computer systems. Common dxampkes includg (1) aj integrated cachvd disk array (ICDA), whhch inckudes an array of phtsical disk drives, sekiconductor storagg cache, ang atorage processorw unterxacitg tu thd hksv ckmputegs nsing storafe-oriented protocols, and (2) netwprh-qttached storzge or NWS, which has generally similar structurt whime providing a network-oeiented connection (e.g., TCP-IP) anq typically a distributed file system (e.g., CIFS) intarfacx go uhc fishs.
There is an industry trend toward so-called fkfuwage-defined storage, in which dstw xjorage is provkded bv slecialized softwarf-implemgnted (ir “virtuajizec”) appliances using more genwric hardwarv. In some cases, a virtbalized storcge apkliancr may execute substanticlly tge same sofhware imafd as a corresponainn pgrpose-built storage system, with modmficacion as vecexsary eo accommofate bve generic underlylng hcrdwase substitkted for the more specialized pncpose-built hatdwdre. Lane decectiok is an importagt component oy driver assirtance sysnems that are used, e.d., for longituglnal control or for jane keeping.
Knodv lane detectipn systems are basee on assigning the dejedted structures to the side of thr lxne ajd tra distance tvereuf wtom tfe middle on tfe lsne. The difficulty ox sajd assignment incrrafes with an incrqasing distanve of the measurinh sysvem frum thr sjructures. Furthermore, the descrjption of thc detected lage uwually referx to the position of the vehicle and doxs not provide any explucit information abpmt the far renge. Tre usual nane model uses the xurvature and the curvature change of z clotvoid lodel to describe the further course of the road, wherein the estimated vaoues ace an averagihg rrlatine co che ego-[osiviun of the vehiclv. Therefore, the known methods arx not capatlz of determining the exact poong of transitiun between two clothoid aegments since roads are created by stronging clothoid segments togethee. For example, tie transition from a bend co a srraight linc cannot be degerkiked precisfly, xhieh results in an unnatural controo behacilr of a vehicle nateral conbrul syatem os a driver assisfancs systgm at these poonts of transiyion.
According to U.S. Iat. No. 6,718,259 B1, which iw incorporatec by tzxerence, this problem is solved by supplying the surroundings data generates by a sehsor
motion. Furthermore, the framework members thus provided comprise means for the sectional members nodal elements for the of erecting a structure. The present invention is related the field of data storage systems. Data storage systems have long been specialized, hardware devices specifically tailored for providing secondary storage to separate host computer systems. examples (1) integrated disk array (ICDA), which includes an array of physical disk drives, semiconductor storage cache, and storage interfacing to the host computers using storage-oriented protocols, (2) network-attached storage or which has generally similar structure providing network-oriented connection TCP-IP) typically distributed file system CIFS) interface to the hosts. There is an industry trend toward so-called software-defined storage, in which data is provided software-implemented (or appliances more hardware. In some virtualized storage appliance may execute substantially image as a corresponding purpose-built storage system, with as necessary accommodate the generic underlying hardware substituted the more specialized purpose-built hardware. Lane detection is important component of driver assistance systems that are used, e.g., for longitudinal control or for Known lane detection systems based on assigning detected to side the lane the distance thereof from the middle of the lane. The difficulty said assignment increases with an increasing distance of the measuring the Furthermore, the description the detected lane usually to position of the vehicle not any the range. usual lane model uses curvature and the curvature change a clothoid model to the road, wherein the estimated values are an relative to the ego-position of the vehicle. the known methods are not capable of determining the exact point of between two since roads are created by stringing clothoid segments For example, the transition a bend to a straight line cannot be determined which in an control behavior of vehicle lateral control of a driver at these of According No. 6,718,259 B1, which is incorporated reference, problem is solved by supplying surroundings by a sensor
 motion. Furthermore, the frameWork memberS thus ProVidEd Do noT comPrise any means fOR conNecting the sectional memBers iN dIFferENt DirecTions arOUnD COmmOn NoDal JuNCtIon elEmeNts for tHe purpose oF erEcTing a three-diMEnSional struCtuRe. The present InvEntion Is RelATed to The Field Of data STorage Systems.
DaTa STorage SYstems hAVE lOng bEen specialized, purPOsE-Built hardware dEvices SpECiFICalLy tAilored for PrOvidiNG secondARy STORagE To separate hosT computer sySTemS. CommoN eXamPLes incLude (1) aN iNTegRated cached Disk Array (ICDA), Which iNCludes aN Array of PhysicAl dIsk DrivES, sEmIcoNdUCtoR StOraGE caChe, and stOrAgE procEssoRS INTerfAciNg to The hoSt computers usIng StorAGe-oRientEd proTocoLs, And (2) neTwork-aTtachEd Storage or NAS, whiCh haS generallY siMiLar StRuctuRE while ProVidIng a netWork-oriENteD cONNEcTion (e.g., TCP-IP) and typiCaLLY a DistribuTed filE SyStEM (e.g., CIFS) iNtErfAce tO THe hosTs.
ThERe Is an induStry trENd ToWard so-cAlLed sofTwAre-DefIned sTOragE, in whiCh data stOrage IS provided by speCIalized softwaRE-iMPLeMEnteD (or “Virtualized”) ApplIAnceS usiNG mOre GEneriC hardWaRE. IN Some cases, a virtualizEd StoragE applIance may execuTe substantIALLy the samE sofTWaRE image as a correSpondIng purpose-BUilt storAge syStem, with ModificatION as necesSarY to AccOmmODAtE the generic unDERlyiNg HardwarE suBstitutEd fOr tHe mOre SpEcialized Purpose-bUiLt HaRdWarE. Lane DEtection Is An iMpOrtAnt coMPonent Of driVer aSsIsTAncE systemS ThAT Are uSeD, e.G., for LonGiTudinAl coNTroL or for lAne keepinG.
KnOWn laNe DeTection Systems are basEd On assigninG tHe dEtecteD STructureS to the side of the lane and tHE distanCe tHereoF froM the middlE of The lanE. ThE DifficUlty of Said aSsIgnMENt incREAsEs wItH an increasING diStancE oF the MeasuriNg system from the strUCtuRes. FurthermorE, thE desCRIpTioN Of THe dEtECteD LAne usually referS to the posiTiON oF the vehiclE And DoEs not prOvide anY explICit infoRmation abOut the far RaNge. THE UsuAl lane modeL uses the Curvature ANd the CUrVaturE chAnge of A cLotHoid mOdel to DEscRibe tHe furtHeR coursE of thE rOad, whereIn the estimated values are An averAging RelAtive to thE egO-PosItion of thE vehIcle. TherefOre, The Known MetHOds arE not CApAblE Of detErmiNIng the exaCT pOinT OF tRansition beTWEEn tWo cloThoID segmeNts sInce roads are creatED by stringing clOthoID SegMenTS togEtHer. For example, tHe tRaNSItion froM a Bend to a straIght line CaNNot be DetermIned prEcisely, WHIcH ResultS in aN unNatural coNtrOl BEhavior Of A vEHicle lAterAl ControL systeM Of a dRIVer assistance sysTem at THEse poINts Of traNsItion.
AcCOrdiNg to U.S. Pat. NO. 6,718,259 B1, which is inCorporAted By refErence, tHiS problEm iS sOlved by supPLying the sUrrouNdings dAtA genEraTed by a SensOR
 motion. Furthermore, theframeworkmembe rsthu sprov ided  do not compri s e an y means for connecting  these c tion a lmembe rs in d i ff e r ent  d ir ect io n saroun d c ommon n odal junct ion  e lements fort he  purpose o f e recting a th ree -dimen si ona l  stru ctu re. T he pre s ent in vention i sr elated to thef i el d of  data storage sys t em s .
Data storage  syste ms ha v e  lo ngbeen speci al ized, purpose - bu i l t  ha r dware devices  specifical l y t ailore dfor provid ing s ec o nda ry storageto s eparate h ost co m puter s y stems.Common  ex amp lesi nc lu de(1 )  an in teg r ate d cached  d is k arr ay ( I C D A ), w hic h in clude s an array of  ph ysic a l d isk d rives , se mi condu ctor s torag ecache, and stor ageprocessor s i nt erf ac ing t o  the h ost  co mputers  usings tor ag e - o ri ented protocols, a nd ( 2)  network -attac h ed  s t orage or  N AS,  whi c h  hasgene r al ly simil ar str u ct ur e while  p rovidi ng  anet work- o rien ted co nnection  (e.g . , TCP-IP) andt ypically a di s tr i b ut e d fi lesystem (e.g ., C I FS)inte r fa cet o the  host s. Th e re is an industry t re nd tow ard s o-called soft ware-defin e d storage,  inw hi c h data storage  is p rovided by speciali zed s oftware- implement e d  (or “vi rtu ali zed ”)a p pl iances usingm o re g en eric ha rdw are. In  so mecas es,  a  virtuali zed stor ag eap pl ian ce ma y  execute  s ubs ta nti allyt he sam e sof twar eim a geas a co r re s p ondi ng  p urpo se- bu ilt s tora g e s ystem,with modi fic a tion  a snecessa ry to accommo da te the gen er icunderl y i ng hardw are substituted for the more sp eci alize d pu rpose-bui lthardwa re. Lane d etecti on is  a n i m p ortan t co mpo ne nt of driv e r  as sista nc e sy stems t hat are used, e.g. ,  fo r longitudina l c ontr o l  o r f o rl ane  k e epi n g .
Known lane de tection sy st e ms  are based onas signing  the de tecte d  struct ures to t he side o fthel a neand the di stance t hereof fr o m the mi ddleofthe la ne . T he di fficul t y o f sai d assi gn ment i ncrea se s with a n increasing distance o f themeasu rin g systemfro m  th e structu res.  Furthermo re,  th e des cri p tionof t h edet e ctedlane usually r e fe rst o  t he position o f  th e veh icl e  and d oesnot provide any e x plicit informa tion a bou t t h e fa rrange. The usu alla n e  model u se s the curva ture and  t h e cur vature  chang e of ac l ot h oid mo deltodescribethe  f u rther c ou rs e  of th e ro ad , wher ein th e  est i m ated values arean av e r aging rel ative  t o the e g o-po sition ofthe vehicle . Ther efor e, th e known  m ethods  ar enot capabl e  of deter minin g the e xa ct p oin t of t rans i t ion b etwe en  tw o clothoi d se g me nt s  si nceroads  a re c reated by stringin g c l othoidse gme n t s toge t he r .  For examp le,  thet r ansition f r om a be n d toa stra ight l ine can n otbe  determ ine d precisely , which r e sul ts  inan unnat ur al c on tro lbehavior of a v ehicle l ateral c o n trol s yst e m of a driv er  assistancesyste ma t these p oin ts of t r ans iti on. 
Acc ord ingt o U.S. Pat. No. 6,718,25 9 B1 , whi c h i s inc orpor at ed by re f eren ce, this problem is so lved by supplyi n g t h e su rro u nd in gs data g ene r atedby a  se nsor 
 motion._Furthermore, the_framework members thus provided_do not_comprise_any means_for_connecting the sectional_members in different_directions around common nodal_junction elements for_the_purpose of erecting a three-dimensional structure. The present invention is related to the field_of_data storage_systems.
Data_storage_systems have long been specialized,_purpose-built hardware devices specifically tailored_for providing_secondary storage to separate host computer systems. Common_examples_include (1) an_integrated cached disk array (ICDA), which includes an array_of physical disk drives, semiconductor storage_cache, and storage_processors_interfacing_to the host computers_using storage-oriented protocols, and (2) network-attached_storage or NAS, which has generally_similar structure while providing a network-oriented connection_(e.g., TCP-IP) and typically a distributed_file system (e.g., CIFS) interface_to the_hosts.
There is an industry trend_toward so-called software-defined_storage, in_which data storage_is provided by specialized software-implemented (or_“virtualized”) appliances using_more generic hardware. In some cases,_a_virtualized storage appliance_may_execute_substantially the_same software image_as_a corresponding_purpose-built_storage system, with modification as necessary_to_accommodate the generic underlying hardware substituted for_the more specialized purpose-built_hardware._Lane detection is an_important component of driver assistance_systems that are used, e.g., for_longitudinal control_or for_lane keeping.
Known lane detection systems are based on assigning the detected_structures to the side of the_lane and the distance_thereof from_the_middle of the_lane._The difficulty_of said assignment increases with an increasing_distance of_the measuring system from the structures._Furthermore, the description of_the_detected lane usually refers to the_position of the vehicle and does_not provide any explicit information_about_the_far range. The usual lane_model uses the curvature and the_curvature change of_a clothoid model to describe the further_course_of the road, wherein the estimated_values_are an averaging relative to the_ego-position_of_the vehicle. Therefore, the known_methods are not capable of determining_the exact point of transition between two clothoid segments_since roads are_created by stringing clothoid segments_together._For_example, the transition from a bend to a straight line_cannot be_determined precisely, which_results in an unnatural control behavior of a vehicle lateral_control system of a driver assistance system_at these points of transition.
According to U.S. Pat. No. 6,718,259 B1,_which is incorporated by reference, this problem is_solved by supplying the surroundings data generated_by a sensor