What question did this study set out to answer?

To evaluate range and range rate accuracy of a vision-based adaptive cruise control system using a single camera.

March 22, 2004

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

Key Points

To evaluate range and range rate accuracy of a vision-based adaptive cruise control system using a single camera.
Implemented the system on a test vehicle driven on highways over thousands of miles.
Computed range and range-rate using imaging geometry analysis.
Determined accuracy bounds based on specific configurations.
Identified specific bounds affecting range and range rate performance.
Results indicate that configuration adjustments are necessary to achieve optimal system performance.

Abstract

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.

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