Siegle, G.G.SiegleGeisler, J.J.GeislerLaubenstein, F.F.LaubensteinNagel, H.-H.H.-H.NagelStruck, G.G.Struck2022-03-082022-03-081992https://publica.fraunhofer.de/handle/publica/319559In 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.enautonomes Straßenfahrzeugautonomous road vehicledigital road mapdigitale StraßenkarteEinmündungserkennungFahrbahnverfolgungintersection detectionmachine visionmaschinelle Bildauswertungnavigation systemNavigationssystemroad tracking004conference paper