Abstract
In autonomous driving, object tracking is necessary to gather actual information about the object of interest. The longitudinal and lateral controls of automated highway systems need a target object not only to maintain the safety distance between vehicles but also to keep the following vehicle in the same track as the preceding vehicle. So far automated highway systems were only developed for urban and highway environment depending on lane markings. In future, their application should be extended to unstructured environments (e.g. desert) and be adapted for heterogeneous vehicles. In this paper an approach towards this is presented, where the back view of preceding vehicle is the target object. This solution is independent from the environmental structure as well as additional equipment like infrared emitters. In this paper, the tracking process of the back view is discussed using video streams recorded by a stereo vision system. For an accurate and fast tracking in unstructured environment and with heterogeneous platoons the proposed method is a supplement to the detection process. Therefore, the tracking process has to be (a) applicable under real time constraints and (b) adaptable in dynamic environments. Compared to other methods related to object detection and tracking, the proposed method reduces the running time for the tracking of the back view from reported 12–30 to 16–66 frame/s.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
E. Shladover, S. Ahs research at the california path program and future ahs research needs. In: IEEE International Conference on Vehicular Electronics and Safety, ICVES 2008. 2008, pp. 4–5
S. Tsugawa, S. Kato, Energy its: another application of vehicular communications. IEEE Commun. Mag. 48 (11), 2010, pp. 120–126
A. Khodayari, A. Ghaffari, S. Ameli, J. Flahatgar, A historical review on lateral and longitudinal control of autonomous vehicle motions. In: 2010 2nd International Conference on Mechanical and Electrical Technology (ICMET). 2010, pp. 421–429
H. Fritz, Longitudinal and lateral control of heavy duty trucks for automated vehicle following in mixed traffic: experimental results from the chauffeur project. In: Proceedings of the 1999 IEEE International Conference on Control Applications, 1999, vol. 2. 1999, vol. 2, pp. 1348–1352
S. Tsugawa, A history of automated highway systems in japan and future issues. In: IEEE International Conference on Vehicular Electronics and Safety, ICVES 2008. pp. 2–3
H. Fritz, A. Gern, Chauffeur assistant: a driver assistance system for commercial vehicles based on fusion of advanced acc and lane keeping. In: 2004 IEEE Intelligent Vehicles Symposium. 2004, pp. 495–500
R. Ramakers, K. Henning, S. Gies, D. Abel, M. Haberstroh, Electronically coupled truck platoons on german highways. In: Automation, Communication and Cybernetics in Science and Engineering 2009/2010, ed. by S. Jeschke, I. Isenhardt, K. Henning, Springer, Berlin, Heidelberg, 2011, pp. 441–451
R. Kunze, M. Haberstroh, R. Ramakers, K. Henning, S. Jeschke, Automated truck platoons on motorways – a contribution to the safety on roads. In: Automation, Communication and Cybernetics in Science and Engineering 2009/2010, ed. by S. Jeschke, I. Isenhardt, K. Henning, Springer, Berlin, Heidelberg, 2011, pp. 415–426
E. Chan, P. Gilhead, P. Jelínek, P. Krejei. Sartre cooperative control of fully automated platoon vehicles. Speech at 18th ITS World Congress, 2011
S. Solyom, E. Coelingh, Performance limitations in vehicle platoon control. In: 2012 15th International IEEE Conference on Intelligent Transportation Systems (ITSC). 2012, pp. 1–6
S. Jin, J. Cho, D. Pham, X. K. Lee, S. Park, M. Kim, W. Jeon, J. Fpga design and implementation of a real-time stereo vision system. IEEE Trans. Circuits Syst. Video Technol. 20 (1), 2010, pp. 15–26
M. Alfraheed, A. Dröge, R. Kunze, M. Klingender, D. Schilberg, S. Jeschke, Real time detection of the back view of a preceding vehicle for automated heterogenous platoons in unstructured environment using video. In: 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC). 2011, pp. 549–555
G. Bradski, A. Kaehler. Learning opencv, 2008
K. Okuma, A. Taleghani, N. de Freitas, J. Little, J. G. Lowe, D. A boosted particle filter: Multitarget detection and tracking. In: Computer Vision – ECCV 2004, ed. by T. Padjla, J. Matas, Springer, Berlin, Heidelberg, 2004, pp. 28–39
H. Grabner, H. Bischof, On-line boosting and vision. In: 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, vol. 1, 2006, pp. 260–267
E. Schapire, R. The Boosting Approach to Machine Learning: An Overview. 2002
H. Bay, A. Ess, T. Tuytelaars, L. Van Gool, Speeded-up robust features (surf). Comput. Vis. Image Underst. 110 (3), 2008, pp. 346–359
B. Leibe, K. Schindler, N. Cornelis, L. Van Gool, Coupled object detection and tracking from static cameras and moving vehicles. IEEE Trans. Pattern Anal. mach. Initell. 30 (10), 2008, pp. 1683–1698
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Alfraheed, M., Dröge, A., Schilberg, D., Jeschke, S. (2016). Automated Heterogeneous Platoons in Unstructured Environment: Real Time Tracking of a Preceding Vehicle Using Video. In: Jeschke, S., Isenhardt, I., Hees, F., Henning, K. (eds) Automation, Communication and Cybernetics in Science and Engineering 2015/2016. Springer, Cham. https://doi.org/10.1007/978-3-319-42620-4_1
Download citation
DOI: https://doi.org/10.1007/978-3-319-42620-4_1
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-42619-8
Online ISBN: 978-3-319-42620-4
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)