EMS-vision: application to hybrid adaptive cruise control

Author

Hofmann, U. ; Rieder, A. ; Dickmanns, E.D.

Author_Institution

Inst. fur Systemdynamik und Flugmech., Univ. der Bundeswehr Munchen, Neubiberg, Germany

fYear

2000

fDate

2000

Firstpage

468

Lastpage

473

Abstract

Presents a system for hybrid adaptive cruise control (HACC) on high speed roads designed as a combination of a radar-based ACC and visual perception. The system is conceived to run on different performance levels depending on the perception abilities. The advantages of a combination of the two sensor types are discussed in comparison to the shortcomings of each single sensor type. A description of the visual lane detection and tracking procedure is given, followed by an overview of the vehicle detection, hypothesis generation and tracking procedure. Afterwards, the assignment of vehicles to lanes and the determination of the relevant vehicle for the longitudinal controller is described

Keywords

Kalman filters; adaptive control; automated highways; computer vision; filtering theory; image recognition; nonlinear filters; object detection; position control; radar; velocity control; EMS-vision; high speed roads; hybrid adaptive cruise control; hypothesis generation; longitudinal controller; perception abilities; radar-based adaptive cruise control; vehicle detection; visual lane detection; visual lane tracking; visual perception; Adaptive control; Adaptive systems; Control systems; Programmable control; Radar detection; Radar tracking; Roads; Vehicle detection; Vehicles; Visual perception;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-6363-9

Type

conf

DOI

10.1109/IVS.2000.898387

Filename

898387