Intelligent automatic overtaking system using vision for vehicle detection

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 manoeuvres involving vehicles -overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manoeuvre. 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 Citroen 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.

Road collisions avoidance using vehicular cyber-physical systems: a taxonomy and review

“…An autonomous overtaking system can make, by avoiding the possibility of human driver distraction, overtaking a safe maneuver. The cognitive automatic overtaking system has been proposed to avoid the lateral collisions during overtaking maneuvers by Milanés et al (2012a). The vision system is used to find out the preceding vehicle's speed and width.…”

Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes

“…Olaverri-Monreal et al [24] proposed the use of vehicle communication to provide enhanced visibility to the user, wherein a vehicle may communicate visual information to another vehicle for decision making. Similarly, Milanés et al [25] built a vision system to identify the positions and speeds of the vehicles using stereovision, the information about which was used by a controller to carry out the overtaking procedure.…”

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

“…Ultrasonic sensors are commonly applied to short distance obstacle detection (1 to 3 metres) during parking manoeuvres. Vision sensors are applied for many different tasks such as vehicle detection [19], [20] or autonomous pedestrian collision avoidance [21], [22]. These types of sensors have the advantage that they are cheap and polyvalent, but they are sensitive to weather conditions.…”