A new approach is proposed for vision based longitudinal and lateral vehicle control. The novel feature of this approach is the use of binocular vision. Two modules are used: a domain-specific binocular stereo algorithm and a lane marker detection algorithm. The integration results are shown in improved performance for each of the modules. Longitudinal control is supported by detecting and measuring the distances to leading vehicles using binocular stereo. The knowledge of the camera geometry with respect to the locally planar road is used to map the images of the road plane in the two camera views into alignment. Image features can be separated into those lying in the road plane, e.g., lane markers, and those due to other objects which are dynamically integrated into an obstacle map. Detected vehicles are tracked in time using a vehicle centered coordinate system. Multiple cameras can be integrated to provide full surround awareness. The detection and measurement of the lane markers provide the positional parameters and the road curvature which are needed for lateral vehicle control. Moreover, this information is also used to update the camera geometry with respect to the road, and to eliminate the effects of vibrations and road inclination to obtain consistent results from binocular stereo.
An integrated stereo-based approach to automatic vehicle guidance
Automatische Fahrzeuglenkung mit stereoskopischem Messen der Position der Fahrspurmarkierungen und des Abstandes zum vorausfahrenden Fahrzeug
1995
12 Seiten, 7 Bilder, 24 Quellen
Conference paper
English
An Integrated Stereo-Based Approach to Automatic Vehicle Guidance
British Library Conference Proceedings | 1995
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