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Proceedings Paper

Sensor fusion: lane marking detection and autonomous intelligent cruise control system
Author(s): Marc Baret; S. Baillarin; C. Calesse; Lionel Martin
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Paper Abstract

In the past few years MATRA and RENAULT have developed an Autonomous Intelligent Cruise Control (AICC) system based on a LIDAR sensor. This sensor incorporating a charge coupled device was designed to acquire pulsed laser diode emission reflected by standard car reflectors. The absence of moving mechanical parts, the large field of view, the high measurement rate and the very good accuracy for distance range and angular position of targets make this sensor very interesting. It provides the equipped car with the distance and the relative speed of other vehicles enabling the safety distance to be controlled by acting on the throttle and the automatic gear box. Experiments in various real traffic situations have shown the limitations of this kind of system especially on bends. All AICC sensors are unable to distinguish between a bend and a change of lane. This is easily understood if we consider a road without lane markings. This fact has led MATRA to improve its AICC system by providing the lane marking information. Also in the scope of the EUREKA PROMETHEUS project, MATRA and RENAULT have developed a lane keeping system in order to warn of the drivers lack of vigilance. Thus, MATRA have spread this system to far field lane marking detection and have coupled it with the AICC system. Experiments will be carried out on roads to estimate the gain in performance and comfort due to this fusion.

Paper Details

Date Published: 27 December 1995
PDF: 13 pages
Proc. SPIE 2592, Collision Avoidance and Automated Traffic Management Sensors, (27 December 1995); doi: 10.1117/12.228912
Show Author Affiliations
Marc Baret, Matra SA (France)
S. Baillarin, Matra SA (France)
C. Calesse, Matra SA (France)
Lionel Martin, Matra SA (France)


Published in SPIE Proceedings Vol. 2592:
Collision Avoidance and Automated Traffic Management Sensors
Alan C. Chachich; Marten J. de Vries, Editor(s)

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