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Proceedings of Conference on Intelligent Vehicles

19-20 Sept. 1996

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Displaying Results 1 - 25 of 77
  • Proceedings of Conference on Intelligent Vehicles

    Publication Year: 1996
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    Freely Available from IEEE
  • Autonomous parallel parking of a nonholonomic vehicle

    Publication Year: 1996, Page(s):13 - 18
    Cited by:  Papers (42)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (911 KB)

    This paper addresses a problem of autonomous parking a nonholonomic (car-like) vehicle. This research work is carried out within the framework of the PRAXITELE project which aims to develop a future-oriented urban transportation system based on a fleet of electric computer-driven vehicles. At the present stage of the project, the designed vehicles have been equiped for the computer-driven motion a... View full abstract»

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  • Indoor vehicle navigation by means of signs

    Publication Year: 1996, Page(s):76 - 81
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (631 KB)

    The task of an autonomous vehicle is to travel from one specific location to another with no external assistance. To perform this task, the "brain" of the vehicle reasons by using data from different types of sensor. In this paper we focus on data from a CCD camera on board an autonomous robot. We discuss a neural network approach for form perception and object classification used to control the n... View full abstract»

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  • Enhancement of the road safety with a stereo vision system based on linear cameras

    Publication Year: 1996, Page(s):147 - 152
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (641 KB)

    In the framework of the Eureka-Prometheus project, the authors have designed an obstacle detection device based on stereo vision. Since raster-scan cameras provide far too much information for real-time processing, linear cameras are used instead and yield an efficient implementation. This paper shows how the linear images shot simultaneously by the left and right cameras are processed in order to... View full abstract»

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  • Real-time lane and obstacle detection on the GOLD system

    Publication Year: 1996, Page(s):213 - 218
    Cited by:  Papers (46)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1460 KB)

    This paper describes the GOLD (generic obstacle and lane detection) system, a stereo vision-based hardware and software architecture developed to increment road safety of moving vehicles: it allows detection of both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings). It has been implemented on the PAPRICA syst... View full abstract»

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  • Control and validation of expert tasks for a collision avoidance system

    Publication Year: 1996, Page(s):369 - 372
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (343 KB)

    In order to improve car driving security, there have been a lot of developments by car constructors: air bag, seat belt. All of them are made to reduce human physical damage in case of accident but do not prevent the accident from taking place. We describe our work which forms part of the European project Prometheus which aims to propose a real time collision avoidance system embedded in a car. In... View full abstract»

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  • Author index

    Publication Year: 1996, Page(s): 427
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    Freely Available from IEEE
  • Robustness of lane mark detection with wide dynamic range vision sensor

    Publication Year: 1996, Page(s):171 - 176
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB)

    This paper presents the improvement of robustness of the vision system for lane mark detection using the wide dynamic range vision sensor. The performance of the lane mark detection was evaluated by experiments for the road scenes such as a tunnel exit or bridge crossing road, in comparison with the vision system using a conventional TV camera. A conventional edge-based image recognition technique... View full abstract»

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  • Obstacle detection from image divergence and deformation

    Publication Year: 1996, Page(s):165 - 170
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    In this paper, we investigate a method for identifying obstacles and measuring the threat of collision. The distortion in images is measured by the change in moments, and is exploited to extract the orientation of surfaces and time-to-contact with the objects. The proposed method was tested on real scenes, and it successfully distinguished between obstacles and road markings View full abstract»

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  • An autonomous land vehicle PRV III

    Publication Year: 1996, Page(s):159 - 164
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    PRV III (POSTECH Road Vehicle III) is the third generation outdoor intelligent vehicle. PRV III is controlled by a model reference based fuzzy controller along with a PID controller, taking both the nonlinear vehicle dynamics and the road conditions into consideration. The computer system used is composed of the C40 microprocessor based parallel architecture. The fitness based navigation algorithm... View full abstract»

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  • A vision-based off-road alert system

    Publication Year: 1996, Page(s):195 - 200
    Cited by:  Papers (6)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (536 KB)

    A vision based system for line warning is proposed to assist drivers in preventing road departures due to a sleep accident or inattention. It is based on monitoring of the 2D motion field generated by the vehicle motion. A prototype analog smart sensor with embedded motion estimation is presented as a new attractive real time implementation of the system View full abstract»

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  • Panel discussion on introduction of intelligent vehicles into society: technical, mental and legal aspects. Mental models, expectable consumer behaviour and consequences for system design and testing

    Publication Year: 1996, Page(s):313 - 318
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    The relation between subjective ideas (mental models) consumers have about the functionality of an advanced vehicle control system and the functionality as it is objectively realized (technical model) is analysed. Based on this the correlations between comprehensibility, predictability and controllability and the functionality of the system are discussed as topics which should be respected in the ... View full abstract»

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  • Path tracking control of mobile robots using a quadratic curve

    Publication Year: 1996, Page(s):58 - 63
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (364 KB)

    This paper describes a path tracking method for power wheeled steering mobile robots (PWS). In the traditional method for moving a mobile robot along a desired path, state variables of a robot (position and orientation) are controlled. But we think that only the position must be controlled in path tracking because orientation comes close to a correct value in the motion along the desired path. We ... View full abstract»

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  • Route guidance sign identification using 2-D structural description

    Publication Year: 1996, Page(s):153 - 158
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    We propose a new method to identify route guidance sign (RGS) by comparing the structure data obtained from the RGS database. We describe the structure data extracted from the road scene images taken by an on-board camera. We model RGS as a two level recursive rectangular model. The shape of RGS is modeled as a rectangle, and the characters are represented by circumscribed rectangles. The 3+1 RGS ... View full abstract»

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  • Development of rear-end collision avoidance system

    Publication Year: 1996, Page(s):224 - 229
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    RCAS (rear-end collision avoidance system) has been developed as a system of ASV (advanced safety vehicle). It is a driver assist system to avoid the rear-end collision by informing the distance headway. It also has automatic braking function in case of emergency and distance warning function to the trailing vehicle. This paper describes the outline of RCAS, techniques about the preceding vehicle ... View full abstract»

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  • Finding and tracking road lanes using “line-snakes”

    Publication Year: 1996, Page(s):189 - 194
    Cited by:  Papers (19)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1136 KB)

    This paper presents a method for finding and tracking road lanes. The method extracts and tracks lane boundaries for vision-guided vehicle navigation by combining the Hough transform and the “active line model (ALM)”. The Hough transform can extract vanishing points of the road, which can be used as a good estimation of the vehicle heading. For the curved road, however, the estimation ... View full abstract»

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  • Millimeter-wave imaging of traffic scenarios

    Publication Year: 1996, Page(s):327 - 332
    Cited by:  Papers (3)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (904 KB)

    Methods for the automatic interpretation of complex road traffic scenarios are currently developed on the basis of real measured data. The measurements are performed using a fully polarimetric instrumentation radar at 76 GHz. Results of those measurements will be presented, especially with respect to automatic image interpretation. The features of the measurement system are very similar to a prosp... View full abstract»

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  • Automation of driving functions - future development, benefits and pitfalls

    Publication Year: 1996, Page(s):309 - 312
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    This paper describes experiences and background of the research of autonomous vehicle functions. From these hypotheses guidelines about the future developments are derived. The development of intelligent vehicles is put into the context of the general history of automobiles, and analogies to air traffic automation are taken into account. “Hard” and “easy” tasks in vehicle a... View full abstract»

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  • H robust automatic steering of a vehicle

    Publication Year: 1996, Page(s):19 - 24
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    In this paper, the problem of automatic vehicle steering is addressed by using a loop shaping procedure followed by an H control design based on system coprime factors decomposition. Numerical simulations are conducted on a bus model. They show the efficiency of this method in order to ensure robustness of the control law against parameter uncertainties View full abstract»

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  • A complex control method for an intelligent mobile vehicle

    Publication Year: 1996, Page(s):53 - 57
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    A neural fuzzy control strategy, developed recently in our laboratory, for a mobile vehicle (MV) run along with the traffic guidelines on the road, is presented. A neurocomputer is used in the control procedure and it learns the driving knowledge to control the MV's actions. The image information of the guidelines is provided by a CCD camera mounted on the top of the MV, and is divided into three ... View full abstract»

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  • Introduction to Suzuki ASV technologies

    Publication Year: 1996, Page(s):219 - 223
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    The safety of vehicles is the top priority theme for Suzuki's R&D activities. Broadly classified, the safety of vehicles has two aspects: active safety and passive safety. Active safety refers to helping the driver drive his/her car safely while passive safety concerns protecting the driver and passengers from serious injuries when the car is involved in an accident. The Suzuki Advanced Safety... View full abstract»

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  • Drivers' behavior in ITS environment investigated by a driving simulator

    Publication Year: 1996, Page(s):295 - 299
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    Autonomous driving systems have been researched from various viewpoints. It is not realistic to install a complete autonomous driving system in a current situation. Therefore a switching between an autonomous driving system and a conventional driving system is required. The man-machine interface is important in this kind of hybrid system. In this study a simulator research is done under the enviro... View full abstract»

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  • Tangent point oriented curve negotiation

    Publication Year: 1996, Page(s):7 - 12
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    Drivers are known to frequently fixate on the tangent point during curve negotiation. The question is how they use the tangent point to obtain the input signal(s) necessary to steer their car through a curve. In this paper, an answer is provided in terms of a steering control model that uses the distance to the tangent point and the car's heading relative to the tangent point vector. These two qua... View full abstract»

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  • An approach to obstacle detection and steering control from optical flow

    Publication Year: 1996, Page(s):357 - 362
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (580 KB)

    In this work an approach to obstacle detection and steering control for safe car driving is presented. It is based on the evaluation of 3D motion and structure parameters from optical flow through the analysis of image sequences acquired by a TV camera mounted on a vehicle moving along usual city roads, countryroads or motorways. This work founds on the observation that if a camera is appropriatel... View full abstract»

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  • Vision based intersection navigation

    Publication Year: 1996, Page(s):391 - 396
    Cited by:  Papers (10)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1216 KB)

    Much progress has been made toward understanding the autonomous on-road navigation problem using vision based methods. A next step in this evolution is the intelligent detection and traversal of road junctions and intersections. The techniques presented in this paper are based on a data driven, active philosophy of vision based intersection navigation. Traversal is accomplished by imaging relevant... View full abstract»

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