Automatic Vehicle Guidance,9789810237202

Automatic Vehicle Guidance

by ; ; ;
ISBN13: 9789810237202
ISBN10: 9810237200
Format: Hardcover
Pub. Date: 1999-05-01
Publisher(s): WORLD SCIENTIFIC PUB CO INC
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Summary

This book surveys the history of automatic vehicle guidance based on the processing of visual information, starting from the very first projects worldwide up to the latest developments. It also presents the ARGO prototype vehicle, developed at the University of Parma (Italy), and describes its equipment, setup, and performance. ARGO has been equipped with cameras and processing systems to drive autonomously in real traffic conditions. The complete system has been tested on public roads, during a tour in which ARGO drove itself along the Italian highway network for more than 2000 km. A detailed analysis of this trip is also included.

Table of Contents

Preface vii
Acknowledgment ix
PART I INTELLIGENT VEHICLES 1(54)
Introduction
5(4)
Intelligent Vehicles and Machine Vision
9(12)
Evolution of Intelligent Transportation Systems
9(3)
Requirements of Intelligent Transportation Systems
12(2)
Sensing the Environment
14(1)
Machine Vision
15(6)
State of the Art
21(34)
Road Following
21(4)
Lane Detection
21(2)
Obstacle Detection
23(2)
Worldwide Projects
25(30)
Research carried out on the MOB-LAB Vehicle
25(4)
Research carried out at the Centro Ricerche FIAT
29(5)
Research carried out at the Universitat der Bundeswehr
34(3)
Research carried out at Daimler-Benz
37(1)
Research carried out at the Fraunhofer-Institut fur Informations and Datenverarbeitung
38(2)
Research carried out at the Laboratoire Central des Pontset-Chaussees de Strasbourg
40(2)
Research carried out at the Defence Evaluation & Research Agency
42(2)
Research carried out at Carriage Mellon University
44(3)
Research carried out at The Ohio State University
47(2)
Research carried out at the University of Michigan
49(2)
Research carried out at the Massachusetts Institute of Technology
51(1)
Research carried out at the Phoang University of Science and Technology
52(3)
PART II THE ARGO PROJECT 55(122)
Algorithms for Image Processing
59(64)
Lane Detection: a Model-Based Approach
59(15)
The Multi-resolution approach
60(1)
The algorithm Structure
61(8)
Performance analysis
69(1)
Critical analysis and evolution
70(4)
Obstacle Detection: a Model-based Approach
74(8)
The vehicle detection algorithm
75(5)
Performance analysis
80(2)
The GOLD System
82(41)
Inverse Perspective Mapping
83(5)
Inverse Perspective Mapping and stereo vision
88(6)
Functionalities
94(13)
An extension of Inverse Perspective Mapping to handle non-flat roads
107(7)
Discussion
114(9)
Hardware Support for Real-Time Image Processing
123(38)
The PAPRICA Architecture
123(5)
Architectural issues
124(1)
Hardware system description
125(3)
Critical Analysis of the PAPRICA Architecture
128(4)
Memory organization and processor virtualization
128(1)
I/O problems
129(1)
Instruction set
130(1)
Architectural evolution
131(1)
The PAPRICA-3 Architecture
132(10)
Hardware system description
133(4)
Obstacle Detection on PAPRICA-3
137(5)
The MMX Technology
142(10)
MMX optimization issues
143(3)
Obstacle Detection on an MMX-based processor
146(6)
Comparison between PAPRICA-3 and MMX Processors
152(9)
Algorithms implementation
152(3)
Performance evaluation
155(1)
Discussion
156(5)
The ARGO Vehicle
161(16)
Description
161(2)
The name
162(1)
The Data Acquisition System
163(3)
The vision system
163(2)
The speed sensor
165(1)
The user interface
165(1)
The keyboard
166(1)
The Processing System
166(1)
The Output System
167(4)
The acoustical devices
168(1)
The optical devices
168(1)
The mechanical devices
169(2)
The Control System
171(2)
Lane change maneuvers
171(2)
Functionalities
173(1)
Other Vehicle Equipments and Emergency Features
174(3)
PART III THE PROJECT'S RESULTS 177(26)
The Mille Miglia in Automatico Tour
181(6)
Description
181(6)
Dates and schedule
182(1)
Data logging
183(1)
Live broadcasting of the event via Internet
183(4)
Performance Analysis
187(14)
System Performance
187(6)
The vision system
187(1)
The processing system
188(1)
The visual processing
188(1)
The control system
189(1)
The man-machine interface
190(1)
Environmental conditions
190(2)
The data transmission system
192(1)
Statistical Analysis of the Tour
193(4)
Detailed analysis of one hour of automatic driving
194(3)
Discussion
197(4)
Closing Remarks
201(2)
APPENDICES 203(24)
A Morphological Implementation of the DBS Filter
205(6)
B PAPRICA-3 Programming Environment
211(8)
B.1 Low Level Programming Language
211(2)
B.2 High Level Programming Language
213(1)
B.3 Assembly Code Optimization
214(1)
B.3.1 Deterministic optimization
214(1)
B.3.2 Stochastic optimization
214(4)
B.3.3 Parallel implementation of the code optimizer
218(1)
C Global Communications on PAPRICA-3
219(8)
C.1 Concurrent Communications on the ICN
221(4)
C.2 Determining the Sets of Compatible Communications
225(2)
References 227(14)
Biographic Notes 241

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