Location and relative speed estimation of vehicles by monocular vision

In this article, we consider the problems of perception of an ACC system. The purpose of this type of system is to regulate the speed of our vehicle so as to respect safety distances relative to vehicles ahead. The work described concerns the detection, location and especially tracking, by monocular vision, of target vehicles equipped with visual marks. We concentrated on precise determination of the position and relative speed of the target vehicles. We show an exemple of cooperation between a road detection and obstacle detection. The methods presented here were tested on real roads on our VELAC demonstration vehicle. We include results obtained by this means.