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1、IEEEIntelligentSystems,vol.13,nr.6,1999.AutonomousDrivingapproachesDowntownU.Franke,D.GavrilaS.Görzig,F.Lindner,F.Paetzold,C.WöhlerDaimler-BenzResearch,T728D-70546Stuttgart,Germany{franke,paetzold,goerzig}@dbag.stg.DaimlerBenz.com{gavrila,lindner,woehler}@dbag.ulm.Daimle
2、rBenz.comKeywords:MachineVision,ImageUnderstanding,AutonomousDrivingAbstractAlargenumberofvisionsystemsforlat-eralandlongitudinalvehicleguidance,Mostcomputervisionsystemsforvehiclelanedeparturewarningandcollisionguidancedevelopedinthepastwerede-avoidancehasbeendevelopedd
3、uringthesignedforthecomparativelysimplehigh-last10yearsallovertheworld(e.g.wayscenario.[Tho88],[Web95],[Fra95],[Pom96]).AutonomousdrivinginthemuchmorecomplexscenarioofurbantrafficordriverMostoftheknownautonomousdemon-assistancesystemslikeIntelligentstratorshavebeendesign
4、edforhighwayStop&Goarenewchallengesnotonlytrafficsincethisscenarioisrelativelysim-fromthealgorithmicbutalsofromtheple:lanesareusuallywellmarkedandsystemarchitecturepointofview.builtwithslowlychangingcurvature,trafficThiscontributiondescribesourcurrentsignsarelargeandclea
5、rlyvisibleandworkonthesetopics.Itincludestheap-othervehiclesaretheonlypotentialob-propriatealgorithmsaswellasap-staclesthatneedtobeconsidered.Asproachestocontrolthevariousvisionshowninthefinalpresentationofthemodules.EuropeanPrometheusproject,theDaim-ler-Benzdemonstrator
6、vehicleVITAIIisabletodriveautonomouslyonhighways1.Introductionandperformovertakingmanoeuvreswith-outanyinteraction[Ulm94].Systemsforvision-basednavigationintheearly80’swerebasedontheexperienceAvisionsystemwouldbeevenmoreat-gainedfromstaticimageprocessing.tractiveforfutur
7、ecustomersifitsuseSincelittlecomputationalpowerwaswerenotlimitedtohighway-likeroads,butavailablethattime,itwascommontotakewerealsoextendedtosupportthedriverapicture,analyseit,anddrivesomedis-ineverydaytrafficsituations,includingcitytanceinablindfashionbeforethevehicletra
8、ffic.Consequently,futurecomputerwasstoppedagainforthenextpicture.visionresearchfortrafficapplicationswi
