Vision-based ACC with a single camera: bounds on range and range rate accuracy

This paper describes a vision-based adaptive cruise control (ACC) system which uses a single camera as input. In particular, we discuss how to compute the range and range-rate from a single camera and discuss how the imaging geometry affects the range and range rate accuracy. We determine the bound...

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Bibliographic Details
Main Authors: Stein, G.P., Mano, O., Shashua, A.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Humans
Laser radar
Millimeter wave measurements
Millimeter wave radar
Production
Radar imaging
Radar measurements
Vehicle driving
Vehicle safety
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Summary:This paper describes a vision-based adaptive cruise control (ACC) system which uses a single camera as input. In particular, we discuss how to compute the range and range-rate from a single camera and discuss how the imaging geometry affects the range and range rate accuracy. We determine the bound on the accuracy given a particular configuration. These bounds in turn determine what steps must be made to achieve good performance. The system has been implemented on a test vehicle and driven on various highways over thousands of miles.
DOI:10.1109/IVS.2003.1212895