A.3.6.3 Hybrid Adaptive Cruise Control

Show HACC Scene Representation and Hardware

(upper part of Picture)

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 ahead.

  • They cannot detect roads and lane markings in the general case,

  • their lateral resolution is poor, and

  • they may generate false alarms from multi-path reflections.

Therefore, 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.

  • All hypotheses generated from radar are checked by vision; those finding no support from vision are deleted.

  • Vision adds information on lanes and on the width of the vehicle observed, and

  • it perceives both horizontal and vertical curvature of the road (the latter one is coded in the yellow bars moving vertically).

video 27

Hybrid Adaptive Cruise Control VaMP 2000

References

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

Hofmann U, Rieder A, Dickmanns ED (2001). Radar and Vision Data Fusion for Hybrid Adaptive Cruise Control on Highways. Proc. ICVS, Vancouver, July

Hofmann 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

Hofmann 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)