This paper presents the methods for sensing obstacles and vehicles implemented on the University of Parma experimental vehicle (ARGO). The ARGO project is briefly described along with its main objectives; the prototype vehicle and its functionalities are presented. The perception of the environment is performed through the processing of images acquired from the vehicle. Details about the stereo vision-based detection of generic obstacles are given, along with a measurement of the performance of the method; then a new approach for leading vehicles detection is described, relying on symmetry detection in monocular images. This paper is concluded with a description of the current implementation of the control system, based on a gain scheduled controller, which allows the vehicle to follow the road or other vehicles.
Visual perception of obstacles and vehicles for platooning / A. Broggi;M. Bertozzi;A. Fascioli;C. Guarino Lo Bianco;A. Piazzi. - In: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS. - ISSN 1524-9050. - 1(2000), pp. 164-176. [10.1109/6979.892153]
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