A.3.6.1 Single obstacle detection and avoidance A.3.6.2 Multiple obstacle detection and avoidance A.3.6.3 Hybrid Adaptive Cruise Control (1999) A.3.6.4 Long-lead-time studies or more demanding vision tasks A.3.6.4a Recognition of 3-D shape and occlusion of trucks A.3.6.4b Perception of horizontal and vertical curvature A.3.6.4c Recognition of humans in traffic scenes A.3.6.4d Detection and recognition of ditches