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Autonomous driving on a road network


Intelligent Vehicles '92 Symposium. Proceedings
pp.403-408 : Abb.,Lit.
Intelligent Vehicles <1992, Detroit/Mich.>
Conference Paper
Fraunhofer IITB ( IOSB) ()
autonomes Straßenfahrzeug; autonomous road vehicle; digital road map; digitale Straßenkarte; Einmündungserkennung; Fahrbahnverfolgung; intersection detection; machine vision; maschinelle Bildauswertung; navigation system; Navigationssystem; road tracking

In order to drive a vehicle without manual intervention, short range information about the visible surrounding in front of the vehicle is extracted by machine vision: a fast, region-based tracking of lane boundaries and - at a lower frequency - an evaluation of the entire video image in order to detect intersections. This is combined with internal map-based knowledge about the road network, which is supplied by the navigation system TravelpilothighR commercially offered by Robert Bosch GmbH. The modules have been integrated into an experimental vehicle. Given a desired goal-position on a suitably selected road network, the vehicle is able to perform the necessary driving mission autonomously.