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Towards active machine-vision-based driver assistance for urban areas

: Heimes, F.; Nagel, H.H.


International Journal of Computer Vision 50 (2002), No.1, pp.5-34
ISSN: 0920-5691
ISSN: 1573-1405
Journal Article
Fraunhofer IITB ( IOSB) ()
driver assistance system; active driver assistance; model based object tracking; Kalman filter; binocular vision; machine vision; inner-city traffic; route guidance

Currently available driver assistance systems (i) warn the driver based on vehicle state sensors (e.g., door open, outside temperature near or below the freezing point), (ii) offer route guidance information (navigation systems based on GPS and digital road maps), or-in some critical situations-(iii) even actively influence vehicle handling under carefully delimited conditions (anti-blocking-system, electronic- stability-program). This contribution reports about investigations to combine passive GPS- and map-based route guidance with model-based machine vision in order to automatically assess or even execute driving maneuvers in inner-city traffic situations. Information provided by todays route guidance systems is treated as a generic description of lane structure. The schematic description of lane structures extractable from commercially available standard digital maps is automatically instantiated by a machine vision approach which interprets video image sequences recorded by cameras from within a driving vehicle. The resulting model of the lane structure in front of the vehicle is subsequently exploited in order to control vehicle maneuvers in real- time as a proof of principal system competences. The machine-vision- based execution of driving maneuvers can at any time be overridden by the driver.