Page 122 - Dynamic Vision for Perception and Control of Motion

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the number of LEDs lighting up to the level of braking applied; this could help
finding the right deceleration magnitude for the hypothesis of the observed braking
vehicle and thus reduce transients.
Sudden onsets of lateral maneuvers are supposed to be preceded by warning
lights blinking at the proper side. However, the reliability of behaving according to
this convention is rather low in many parts of the world.
As a general scheme in vision, it can be concluded that partially smooth sections
and local discontinuities have to be recognized and treated with proper methods
both in the 2-D image plane (object boundaries) and on the time line (events).

3.4.6.3 A Capability Network for Locomotion

The capability network shows how more complex behaviors depend on more basic
ones and finally on the actuators available. The timing (temporal sequencing) of
their activation has to be learned by testing and corresponding feedback of errors
occurring in the real world. Figure 3.28 shows the capability network for locomo-
tion of a wheeled ground vehicle. Note that some of the parameters determining the
trigger point for activation depend on visual perception and on other measurement
values. The challenges of system integration will be discussed in later chapters af-
ter the aspects of knowledge representation have been discussed.
Schematic
Road
capabilities
running Waypoint
Stop in navigation
Avoid
Stand front of obstacle Drive
still obstacle at distance y
along guide
Turn to line
Keep Drive heading
Approach circular Skills
distance
arc
Keep Turn Ȝ
lane to Ȝ com
Accelerate
Decelerate
Keep
Constant
Keep course Turn Ȝ
Halt speed steering angle to zero
Brakes Throttle Steering rate Actuators
Ȝ-dot
Longitudinal control Lateral control
Figure 3.28. Network of behavioral capabilities of a road vehicle: Longitudinal
and lateral control is fully separated only on the hardware level with three actua-
tors; many basic skills are realized by diverse parameterized feed-forward and
feedback control schemes. On the upper level, abstract schematic capabilities as
triggered from “central decision” are shown [Maurer 2000, Siedersberger 2004]