Vision-based ACC with a Single Camera: Bounds on ... - Mobileye

Figure 5: Optimal ∆t computed from eq. (25) assuming an accelerationof a = −1m/s 2 .(a) RangeFigure 6: The relative velocity error and error bounds (dashedlines) computed from eq. (26) assuming a relative accelerationof a = 1m/s 2 .(b) Range RateFigure 4: (a) Range and (b) Range Rate for a typical sequencewhere the host vehicle decelerates so as to keep a safeheadway distance of 24m from the detected vehicle.The lead vehicle was traveling at 80KPH.References[1] G. R. Widman, W. A. Bauson and S. W. Alland Developmentof collision avoidance systems at Delphi Automotive Systems,In Proceedings of the Int. Conf. Intelligent Vehicles, pages353 -358, 1998[2] K. Saneyoshi Drive assist system using stereo image recognition,In Proceedings of the Intelligent Vehicles. Symposium,pages 230-235, Tokyo, 1996.[3] A. Broggi et al, Automatic Vehicle Guidance: The experienceof the ARGO Autonomous Vehicle, World Scientific, 1999.[4] T. Williamson and C. Thorpe Detection of small obstaclesat long range using multibaseline stereo, In Proceedings of the Int.Conf. Intelligent Vehicles, pages 230-235, 1998[5] G. Stein, O. Mano and A. Shashua. A robust method forcomputing vehicle ego-motion, In IEEE Intelligent Vehicles Symposium(IV2000), Oct. 2000, Dearborn, MI[6] C. Kreucher, S. Lakshmanan and K. Kluge A driver warningsystem <strong>based</strong> on the LOIS lane detection algorithm, In IEEEIntelligent Vehicles Symposium (IV1998), Oct. 1998, Stuttgart[7] M. Irani, B. Rousso, and S. Peleg. Recovery of ego-motionusing image stabilization, In Proceedings of the IEEE Conferenceon Computer <strong>Vision</strong> and Pattern Recognition, pages 454–460,Seattle, Washington, June 1994.[8] M. J. Black and P. Anandan. Robust dynamic motion estimationover time, In Proceedings of the IEEE Conference onComputer <strong>Vision</strong> and Pattern Recognition, pages 296– 302, June1991.