Title :
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
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;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898387
