Dickmanns 1995a : Typical performance levels of monocular vision systems with body-fixed viewing direction have been improved by the introduction of bifocal vision and active viewing direction control according to road curvature and region of interest. This feature has enabled autonomous vehicles to drive at higher speeds on more curved roads and to negotiate turn-offs onto crossroads with small radii of curvature. Forward and rearward looking bifocal camera sets have been introduced for recognition of the traffic situation around the vehicle within 100 m range and for more extended mission performance capabilities exploiting landmark navigation; these require integral representations with maps and overall plans for vehicle guidance in addition to the differential ones in use for local recognition and control.
   Besides the old van VaMoRs which is now being used for driving on nonplanar minor roads and for mission performance on road networks, the new sedan test vehicle VaMoRs-P has been developed for high speed driving on highways. It has been tested on the French Autoroute A1 north of Paris at speeds up to 130 km/h in normal traffic for the final demonstrations of the EUREKA-project Prometheus.