Fun_People Archive
14 May
Autonomous automobile

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From: Peter Langston <psl>
Date: Thu, 14 May 98 20:14:55 -0700
To: Fun_People
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Subject: Autonomous automobile

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You are cordially invited to take part in one of the most special rides on
public roads: from June 1st to June 6th, 1998 the autonomous vehicle ARGO
will drive through Italy automatically and during the tour it will broadcast
a live video stream to the Internet. You will be able to take a look at
ARGO's driving cabin, at the results of the processing, and...  at the
outside landscapes, LIVE. The official presentation of the tour will take
place on Wednesday, May 27th, 1998, at the Faculty of Engineering of the
University of Parma, at 2:30 pm, room F.

Please check for more details, ... and stay

M I L L E M I G L I A   I N   A U T O M A T I C O
The Demo of the ARGO Vehicle

Dip. di Ingegneria dell'Informazione
Universita' di Parma
 Consiglio Nazionale delle Ricerche                    in cooperation with TIM
 Progetto Finalizzato Trasporti II                       Telecom Italia Mobile

The prototype vehicle ARGO (a Lancia Thema 2000) has been developed at
the Dipartimento di Ingegneria dell'Informazione of the University of
Parma, under the framework of the Progetto Finalizzato Trasporti 2 of the
Italian National Research Council (CNR). ARGO is able to compute its
relative position with respect to the lane, to extract the geometry of
the road, and to localize eventual obstacles obstructing the driving path.
A computing engine processes the images acquired by a stereo vision system
whose cameras are localized behind the windscreen, inside the vehicle;
the results are used to drive an electric engine installed on the steering
column, which provides automatic steering. The whole system is based on
the processing of visual information in order to remove the possibility
of inter-vehicle interference and does not need specific road
infrastructures.  The original target of the project was the development
of a system to improve road safety by controlling and supervising the
driver activity. Further developments, however, allowed to extend the
functionality to automatic driving: during the MILLEMIGLIA IN AUTOMATICO
Tour, ARGO will drive in automatic mode.  In the world two other extensive
tests have been conducted on public roads in the last few years: 'No Hands
Across America' by the CMU group (Pittsburgh, USA) and a trip from Munchen
to Odense by the group of Universitat der Bundeswehr (Germany). The goal
of our trip is to demonstrate that using only visual information and
low-cost general purpose hardware it is possible to drive automatically
and safely a vehicle under different road and environmental conditions.

Monday, June 1 1998
     8.00  11.00	Parma - Torino.........................245 km
    12.00  18.00	Demo & Seminar: IEN Galileo Ferraris, Torino
    18.00  20.00	Torino - Milano - Pavia................175 km

Tuesday, June 2 1998
     8.00  13.00	Demo & Seminar: DIS, Universita' di Pavia
    14.00  18.00	Pavia - Milano - Padova - Ferrara......340 km

Wednesday, June 3 1998
     8.00  11.00	Demo & Seminar: Universita' di Ferrara
    12.00  15.30	Ferrara - Bologna - Ancona.............260 km
    16.00  19.00	Demo & Seminar:  Universita' di Ancona

Thursday, June 4 1998
     8.30  13.00	Ancona - Pescara - Roma................365 km
    14.00  19.00	Demo & Seminar: CNR - PFT II,  Roma

Friday, June 5 1998
     9.00  12.30	Roma - Firenze.........................280 km
    15.00  18.30	Demo & Seminar: Universita' di Firenze

Saturday, June 6 1998
8.30  12.00	Firenze - Bologna - Parma..............195 km
Minor program variations may be announced on the Web page.

Alberto Broggi, Massimo Bertozzi, Alessandra Fascioli
Dipartimento di Ingegneria dell'Informazione, Universita' di Parma

During the 'MilleMiglia in Automatico' tour, thanks to the cooperation of
TIM, Telecom Italia Mobile,  ARGO will broadcast a live video stream to
the Internet. A PC acquires images from a camera installed  inside  the
vehicle and, using 2 independent GSM channels,  sends  the  data  to  a
Web  Server ( accessible from any host on
the Internet.  Up-to-date information as well as live images acquired from
the  vehicle during the demo are available at:

*	Lancia Thema 2000                 * Led-based control panel
*	B/W cameras, f=0.6mm, 360 lines   * On board 6" color monitor
*	Trinocular acquisition system     * Inverter generating 220V @ 50Hz
*	Odometer, Hall effect             * Electric engine on steering column
*	PC Pentium MMX, 200MHz, Linux     * Joystick for emergency situations
*	Analog/Digital I/O board          * Stereo speakers

The system installed on ARGO allows the following functions:
the system monitors the driver activity; in case of potential dangerous
situations the system warns the driver with acoustic and optic signals
the system warns the driver with acoustic and optic signals and, in case
of dangerous situations, takes the control of the vehicle
the system drives automatically, following the lane and localizing obstacles
on the path; the system is able to perform lane changes

For information:
Alberto Broggi, ARGO project coordinator
Dipartimento di Ingegneria dell'Informazione
Universita' di Parma, Viale delle Scienze, 43100 PARMA, ITALY

Fax: +39-521-905723

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