Intelligent automatic overtaking system using vision for vehicle detection

Milanés Montero, Vicente and Fernández Llorca, David and Villagra Serrano, Jorge and Pérez, Joshué and Fernández López, Carlos and Parra Alonso, Ignacio and González Fernández-Vallejo, Carlos and Sotelo, Miguel Ángel (2012). Intelligent automatic overtaking system using vision for vehicle detection. "Expert Systems with Applications", v. 39 (n. 3); pp. 3362-3373. ISSN 0957-4174. https://doi.org/10.1016/j.eswa.2011.09.024.

Description

Title: Intelligent automatic overtaking system using vision for vehicle detection
Author/s:
  • Milanés Montero, Vicente
  • Fernández Llorca, David
  • Villagra Serrano, Jorge
  • Pérez, Joshué
  • Fernández López, Carlos
  • Parra Alonso, Ignacio
  • González Fernández-Vallejo, Carlos
  • Sotelo, Miguel Ángel
Item Type: Article
Título de Revista/Publicación: Expert Systems with Applications
Date: 2012
ISSN: 0957-4174
Volume: 39
Subjects:
Freetext Keywords: Advanced vehicle control and safety systems; Road vehicle control; Stereo vision; Fuzzy logic; Intelligent transportation systems
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

There is clear evidence that investment in intelligent transportation system technologies brings major social and economic benefits. Technological advances in the area of automatic systems in particular are becoming vital for the reduction of road deaths. We here describe our approach to automation of one the riskiest autonomous manœuvres involving vehicles – overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manœuvre. To this end, a fuzzy-logic based controller was developed to emulate how humans overtake. Its input is information from the vision system and from a positioning-based system consisting of a differential global positioning system (DGPS) and an inertial measurement unit (IMU). Its output is the generation of action on the vehicle’s actuators, i.e., the steering wheel and throttle and brake pedals. The system has been incorporated into a commercial Citroën car and tested on the private driving circuit at the facilities of our research center, CAR, with different preceding vehicles – a motorbike, car, and truck – with encouraging results.

More information

Item ID: 21249
DC Identifier: http://oa.upm.es/21249/
OAI Identifier: oai:oa.upm.es:21249
DOI: 10.1016/j.eswa.2011.09.024
Official URL: http://www.sciencedirect.com/science/article/pii/S0957417411013339
Deposited by: Memoria Investigacion
Deposited on: 06 Nov 2013 17:03
Last Modified: 21 Apr 2016 11:23
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