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Recognition of Surroundings By the Mitsubishi Asv
Published May 15, 1996 by Society of Automotive Engineers of Japan in Japan
Event: JSAE Spring Conference
The Mitsubishi ASV (Advanced Safety Vehicle) employs many advanced safety functions, especially collision warning and automatic collision avoidance. This paper describes lane and obstacle sensing and recognition systems of the ASV. The sensor fusion system for detection of surroundings, called the "Multi-Eye System," consists of lane-detecting cameras, scanning laser radar, passive trigonometric-type sensors, and stereo cameras. The main feature of the recognition system is lane-based data processing. Lane coordinate data on detected obstacles describe the topological relation between an obstacle and the ASV. Adaptive range cut, called "lane cut," reduces roadside noise considerably.