HACC Scene Representation and Hardware
(upper part of
Radar systems have
been chosen by industry in the 1990’s to introduce “Adaptive
Cruise Control” (ACC) into the car market; these
systems were intended to work above a certain lower cruise speed
on highways keeping a speed-dependent distance to the vehicle
They cannot detect
roads and lane markings in the general case,
resolution is poor, and
they may generate
false alarms from multi-path reflections.
combinations of these types of systems with vision have been
investigated in the late 1990’s. Together with an industrial
partner, the combination of radar and visual interpretation
sketched in the figure (at left) has been
investigated with the test vehicle VaMP.
hypotheses generated from radar are checked by vision;
those finding no support from vision are deleted.
information on lanes and on the width of the vehicle observed,
both horizontal and vertical curvature of
the road (the
latter one is coded in the yellow bars moving vertically).
Adaptive Cruise Control VaMP 2000
Hofmann U, Rieder A,
Dickmanns, ED (2000). EMS-Vision: Application to Hybrid Adaptive
Cruise Control. Proc. Int. Symp. on Intelligent Vehicles
(IV’2000), Dearborn, (MI)
Rieder A (2000).
Fahrzeuge sehen - Multisensorielle Fahrzeugerkennung in einem
verteilten Rechnersystem für autonome Fahrzeuge. Dissertation,
UniBwM / LRT
U, Rieder A, Dickmanns ED (2001). Radar and Vision Data
Fusion for Hybrid Adaptive Cruise Control on Highways. Proc. ICVS,
U, Rieder A, Dickmanns ED (2003). Radar and Vision Data
Fusion for Hybrid Adaptive Cruise Control on Highways. Int.
J. ‘Machine Vision and Applications’, Vol. 14(1),
Springer-Verlag, pp. 42-49
U (2004). Zur visuellen Umfeldwahrnehmung autonomer Fahrzeuge.
Dissertation, UniBwM / LRT,
Dickmanns ED (2007).
Dynamic Vision for Perception and Control of Motion.
Springer-Verlag, (Section 14.6.3)