Research

 

Intelligent Vehicle Experimental Test-beds

Human-Centered Driver Assistance Systems

 

Vision Systems for Occupant Posture Analysis

 

Vision Systems for Driver Analysis and Interface

 

Related Research

 
The LISA-P Intelligent Vehicle Test Bed

  OBJECTIVES

To provide an adaptable experimental test bed for evaluating the performance of various sensing modalities and their combination, two test environments based upon  a Daimler-Chrysler S-class (LISA-M) test frame and a Volkswagen Passat (LISA-P), were outfitted with a computer and a multitude of cameras and acquisition systems. Of principal importance in the hardware specification and software architecture was the ability to (1) capture and process data from all the sensor subsystems simultaneously and (2) to provide facilities for algorithm development and offline testing.

  CAMERA

Thermal long-wavelength infrared camera is used to capture scene response in the 7 to 14 um wavelength range. The camera uses a 160x120 element amorphous silicon focal plane array and lens that produces a 35x50 degree field of view. It requires no cooling. A mechanism for correcting per pixel gain variation exists in the form of a shutter that momentarily closes in front of the focal plane array every few minutes to perform this calibration. With a roughly four-fold decrease in both size and price in the last two years, we intend to test something representative of what may be reasonably added to a passenger car in a few years time.

Real-time stereo camera system consists of three black-and-white 640x480 element 1/3" CCD sensors mounted with 3.8 mm focal length lenses in a common enclosure. Integrated digitization, buffering circuitry and an IEEE 1394 interface allows transfer of video from all three cameras to the host. This system is supplied with host software that performs the correspondence calculation and provides a disparity image. The nearest object that can be seen by all cameras is roughly 30 cm from the face of the enclosure, which is the reason for the external placement of the camera.

Color cameras consist of four 1/3" CCD color NTSC cameras. Each video stream is merged into a single frame via a quad video signal combiner which also synchronizes the capture of the four video streams.

Camera dome covers the camera set up above the roof of the car.

POWER AND COMPUTER SYSTEM

The LISA-P is equipped with a 120V AC power distribution system. This comprises a marine-type 1.0kW true sine wave inverter, an auxiliary battery and appropriate isolation circuitry. The availability of 120V AC avoids the alternative of adapting equipment to the vehicle's 12V DC supplies, yielding an easier transition from laboratory to vehicle.

The computing platform consists of a commercial Xeon PC with a high throughput disk subsystem for streaming video data. The subsystem consists of four, 15Krpm Ultra320 SCSI disk drives in a RAID array that achieves in excess of 220 MB/s sustained throughput. This data rate allows for the capture of several simultaneous high-resolution video streams.

The video capture hardware currently consists of a dual CameraLink PCI-X capture board, an analog color RS-170 PCI capture board, and an IEEE 1394 PCI host controller.