Recently, the third DARPA Grand Challenge, named the 'Urban Challenge' because it took place in a cluttered urban environment, demonstrated that driverless cars can detect obstacles, negotiate with other traffic and make sophisticated interactions with each other. Although such fully-autonomous vehicles are far from perfect, developments such as the successful completion of the Urban Challenge course by five autonomous vehicles beg the following question as by equipping the vehicle with appropriate sensors (such as video cameras, radars, laser scanners or ultrasound devices), are technologies developed for autonomous vehicles to increase safety, efficiency and convenience in driver assistance systems applicable. The authors believe that FIR cameras are also essential to a successful driver assistance system during the day, since the heat signatures of all active cars, largely due to hot tail pipes and brakes, stand out in FIR imaging. Although an FIR system cannot detect all obstacles that a visible-light system can detect during the day, it can detect hot obstacles at a longer range and with higher accuracy. Luxury cars from the 2000 Cadillac DeVille to the BMWs equipped with 'Night Vision' technology feature FIR cameras and in-car monitors or projection methods, mainly marketed for night-time driving in rural areas; here, we would like to add some intelligence to the use of such sensors. In this paper the authors discuss methods, derived from fully-autonomous vehicle research, for real-time Model Predictive Control (MPC), segmentation of moving (relative to the ground) obstacles using visible-light cameras, and detection of heat-producing objects using thermal infrared (IR) cameras, as well as their application to driver assistance systems.


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    Title :

    Transitioning control and sensing technologies from fully-autonomous driving to driver assistance systems


    Additional title:

    Übertragung der Steuerungsfunktionen und Messtechnologien aus den Erfahrungen eines vollständig autonomen Fahrzeug in Fahrerassistenzsysteme




    Publication date :

    2008


    Size :

    16 Seiten, 3 Bilder, 41 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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