Andree Hohm

PRORETA 3: An Integrated Approach to Collision Avoidance and Vehicle Automation

Zusammenfassung The article describes first results of the research project PRORETA 3 that aims at the development of an integral driver assistance system for collision avoidance and automated vehicle guidance based on a modular system architecture. For this purpose, relevant information is extracted from a dense environment model and fed into a potential field-based trajectory planner that calculates reference signals for underlying vehicle controllers. In addition, the driver is supported by a human-machine interface. Abstract Der Beitrag beschreibt erste Ergebnisse des Forschungsprojektes PRORETA 3, das die Entwicklung eines integralen Fahrerassistenzsystems zur Kollisionsvermeidung und automatisierten Fahrzeugführung auf Basis einer modularen Systemarchitektur anstrebt. Hierzu werden relevante Informationen aus einem dichten Umfeldmodell extrahiert und in einem potentialfeldbasierten Trajektorienplaner verarbeitet, der Führungsgrößen für unterlagerte Fahrzeugregler generiert. Zusätzlich unterstützt eine Mensch-Maschine-Schnittstelle den Fahrer zielgerichtet bei der Fahrzeugführung.

Towards a generic and efficient environment model for ADAS

In research projects for future ADAS functions a dense environment model covering free space is often necessary, which is obtained by complementing or replacing a common object list by a grid based environment model. The drawbacks of grid based models are their demands for memory, computational resources and bandwidth. This paper analyzes the influence of data compression on accuracy and resource demand of a grid. By using a simple compression scheme the transmission bandwidth and the required computational resources can be significantly reduced.

On-vehicle video-based parking lot recognition with fisheye optics

The search for free parking space in a crowded car park is a time-consuming and tedious task. Todays park assistance systems provide the driver with acoustic or visual feedback when approaching an obstacle or semi-autonomously navigate the vehicle into the parking lot. However, finding a free parking lot is usually left to the driver. In this paper, we address this search problem via video sensors only. This can be used as a help to the driver to quickly pass a parking deck and, more important, can be regarded as a cornerstone to fully autonomously parking vehicles.

Assessment of adequate overtaking margin (AOM) for an overtaking assistance system

On two-lane rural roads, a large number of overtaking accidents happen. In most cases fatalities or serious casualties are the consequence. Often, inaccurate assessment of the traffic situation is identified as the major cause. Hence, the development of a driver assistance concept for these scenarios promises a high safety benefit. This paper shows the results of tests conducted on a test track determining the major parameters for gaining maximum driver-acceptance of such a system.

Vermeidung von Überholunfällen

In diesem Beitrag werden Konzept und praktische Erprobung eines Fahrerassistenzsystems vorgestellt, das gefahrliche Uberholmanover auf zweistreifigen Landstrasen fruhzeitig erkennt und dabei hilft, Unfalle zu vermeiden. Das System wurde im Forschungsprojekt Proreta 2 an der Technischen Universitat Darmstadt in Zusammenarbeit mit der Continental AG entwickelt.

Evaluation method and results for the accuracy of an automotive occupancy grid

This paper presents an evaluation method for the accuracy of automotive occupancy grids and results for the influence of the discretization and pose estimation of a radar based grid mapping algorithm. An automotive centric review of evaluation methods and map quality measures developed for robotic applications is given. Based on the results of the review, an extensible toolset to create ground truth maps and to compare them against automotive grid maps using different map quality measurements is proposed. Several map quality measures are compared and the best performing method to evaluate the accuracy of a radar based occupancy grid mapping algorithm is chosen.

Umfeldmodelle – standardisierte Schnittstellen für Assistenzsysteme

Einer der Kernbestandteile von Fahrerassistenzsystemen ist die genaue und echtzeitfahige Abbildung der Fahrzeugumgebung, das sogenannte Umfeldmodell. Es dient als Datenbasis fur die Algorithmen zur Situationsanalyse und Regelung. Hier gilt es, die enormen Datenmengen in den Griff zu bekommen und Standardschnittstellen zu schaffen. Continental zeigt Losungen auf.

Avoidance of overtaking accidents

This contribution describes the basic concept and practical evaluation of a driver assistance system, which early detects dangerous overtaking maneuvers on two-lane rural roads and helps to prevent accidents. The system was developed during the Proreta 2 research project by Technische Universitat Darmstadt in cooperation with Continental AG.