Page 138 - Dynamic Vision for Perception and Control of Motion

122 4 Application Domains, Missions, and Situations

9. Cross both intersections (T-junction left and right).
10. Leave road to the left at GPS-waypoint (9) for cross-country driving.
11. While driving toward a sequence of landmarks (GPS-based), detect and per-
ceive negative obstacles (ditches) visually and avoid them through bypassing
on the most convenient side. [In the case of Figure 14.15 there is one ditch on
trajectory-arc 10; it should be avoided by evading to the right. If a ditch is en-
countered, there is a new list of tasks to be performed in a similar manner for
this complex evasive maneuver consisting of several perceptual tasks and se-
quences of motion control.]
12. Finish mission at GPS-landmark X (in front of a road).

In driver assistance systems, similar mission elements exist, such as roadrunning
(with “lane departure warning”), convoy driving (with “adaptive cruise control”),
or “stop-and-go” traffic. The assistance functions can be switched on or off sepa-
rately by the human operator. A survey on this technology including the human-
machine-interface (HMI) may be found in [Maurer, Stiller 2005].