Vision system testing for teleoperated vehicles
This study compared three forward-looking vision systems consisting of a fixed mount, black and white video camera system, a fixed mount, color video camera system and a steering-slaved color video camera system. Subjects were exposed to a variety of objects and obstacles over a marked, off-road, course while either viewing videotape or performing actual teleoperation of the vehicle. The subjects were required to detect and identify those objects which might require action while driving such as slowing down or maneuvering around the object. Subjects also estimated the same video systems as in the driving task. Two modes of driver interaction were tested: (1) actual remote driving, and (2) noninteractive video simulation. Remote driving has the advantage of realism, but is subject to variability in driving strategies and can be hazardous to equipment. Video simulation provides a more controlled environment in which to compare vision-system parameters, but at the expense of some realism. Results demonstrated that relative differences in performance among the visual systems are generally consistent in the two test modes of remote driving and simulation. A detection-range metric was found to be sensitive enough to demonstrate performance differences viewing large objects. It was also found that subjects typically overestimated distances, and when in error judging clearance, tended to overestimate the gap between the objects. 11 refs., 26 figs., 4 tabs.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 6288079
- Report Number(s):
- SAND-88-3123; ON: DE89009713
- Resource Relation:
- Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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