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X.2 VaMP achievements (1993 – 2004)

Test vehicle ‘Prometheus’-project (SEL 500)

  • 2nd– generation transputer vision system with up to 60 processors;
  • bifocal vision both to the front and to the rear;
  • autonomous lane change decisions (two lanes).

Video – TwofoldAutonLaneChangeParis 1994

High-speed road running , 1995: Up to 180 km/h

  • Curvature-based perception of own and neighboring lanes;
  • lateral ego-state including transition between lanes.
  • Large look-ahead ranges (bi-focal) up to ~ 100 m

Convoy-driving on multi-lane highways, 1994

  • Monocular motion stereo with flat ground assumption,
  • vehicle width initially estimated (parameter adaptation),
  • then fixed for better monocular range estimation.

Video – GroundVehiclesLearnToSee UBM1986-95

Long distance drive from Munich to Odense, 1995

A.3.8 Long distance drive VaMP 1995

  • Transputer system with Power-PC 601 processors (front hemisphere);
  • collect statistical data on edge-based vision system performance to derive improvements required of the 3rd-generation system based on COTS-components with much higher computing power.

Horizontal and vertical road curvature, 1999

  • At larger ranges, even small vertical curvatures are important for higher precision in monocular range estimation;
  • the yellow bars display curvature effects relative to the horizon line.

Hybrid Adaptive Cruise Control

  • Bifocal vision complementing an industrial radar system for more robust distance keeping, early version of EMS-vision system;
  • longitudinal control fully autonomous, lateral control by human driver to keep him ‘in the loop’ for achieving better attention.

Video – Hybrid Adaptive Cruise Control VaMP 2000

Wheel recognition under oblique views 2002

  • Most characteristic item for separating vehicles on roads from other large box-like objects;
  • improved estimates of the relative heading angle of the vehicle.
  • Allows better situation assessment for lane changes of other vehicles.