A.3.0 Ground vehicle guidance by vision

A.3.1 Road recognition and vehicle guidance

The key to success, beside recursive estimation, was to describe road shape in differential-geometry terms:

  • On the one side, this considerably reduces the number of parameters needed for describing a local road section; integration constants fixing global direction and position can be left off.

  • On the other side, driving on a road at velocity V turns the differential-geometry description into an ordinary differential equation in time in a coordinate system moved with the vehicle.

  • As early as 1987 this allowed driving at high speeds (up to Vmax = 96 km/h) on an obstacle-free stretch of Autobahn near Dingolfing with relatively little computing power available, when competitors using quasi-static approaches were at least an order of magnitude slower.

  • The dynamic model of egomotion is very simple but represents the properties of Ackermann steering (standard in road vehicles) as control input quite well.

The first demonstration of visual road vehicle guidance at speeds up to ~ 40 km/h was given to ‘Daimler-Benz AG Research’ in 1986.

Video 02 SkidpanDB-VaMoRs 1986

Video 04 VaMoRsAutobahn Dingolfing 1987

(First high-speed road vehicle guidance by vision on a free stretch of Autobahn) 


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