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Visual perception of obstacles and vehicles for platooning

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5 Author(s)
Broggi, A. ; Dipartimento di Inf. e Sistemistica, Pavia Univ., Italy ; Bertozzi, M. ; Fascioli, A. ; Bianco, C.G.L.
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Presents the methods for sensing obstacles and vehicles implemented on the University of Parma experimental vehicle (ARGO). The ARGO project is briefly described along with its main objectives; the prototype vehicle and its functionalities are presented. The perception of the environment is performed through the processing of images acquired from the vehicle. Details about the stereo vision-based detection of generic obstacles are given, along with a measurement of the performance of the method; then a new approach for leading vehicles detection is described, relying on symmetry detection in monocular images. The paper concludes with a description of the current implementation of the control system, based on a gain scheduled controller, which allows the vehicle to follow the road or other vehicles

Published in:

Intelligent Transportation Systems, IEEE Transactions on  (Volume:1 ,  Issue: 3 )

Date of Publication:

Sep 2000

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