Hybrid Adaptive Cruise Control

Hybrid Adaptive Cruise Control (HACC)

As a spin-off of the overall system architecture, ISF designed, in cooperation with an automotive supplier, a system for hybrid adaptive cruise control. It is a combination of a radar-based ACC system and visual perception for vehicle as well as lane detection and tracking.

This HACC system is meant for highways and similar roads with white lanemarkings on both sides of all lanes. This is a well known domain where the expected obstacles are restricted to road vehicles.

The system designed is able to operate at different performance levels. For this project the own car (Ego) shall be driven manually in the lateral direction and is controlled autonomously in the longitudinal direction. It is in the driver's responsibility to choose the lane of the road and he has to decide whether to overtake or not. A desired speed is set by the human driver, the computer controls the velocity of the car in such a manner, that a specified safe distance to vehicles in front is kept, and the difference between the desired and the actual velocity is as small as possible. The driver can overrule the HACC system at any time. The HACC is a comfort system, not a security system. The maximal allowed pressure of the braking system is limited; thus, the HACC is not able to command emergency braking. The driver always has to be aware of the traffic situation. He is legally responsible for all actions of the car.

For details see [Ho et al 00].

lanerecognition

Figure 17: Lane recognition and obstacle confirmation in HACC


Download MPEG Video of HACC (1min/9MB)


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