Vision-based ACC with a single camera: Bounds on range and range rate accuracy

Gideon P. Stein*, Ofer Mano, Amnon Shashua

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

204 Scopus citations


This paper describes a vision-based adaptive cruise control (ACC) system which uses a single camera as input. In particular, we discuss how to compute the range and range-rate from a single camera and discuss how the imaging geometry affects the range and range rate accuracy. We determine the bound on the accuracy given a particular configuration. These bounds in turn determine what steps must be made to achieve good performance. The system has been implemented on a test vehicle and driven on various highways over thousands of miles.

Original languageAmerican English
Title of host publicationIEEE Intelligent Vehicles Symposium, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)0780378482
StatePublished - 2003
Event2003 IEEE Intelligent Vehicles Symposium, IV 2003 - Columbus, United States
Duration: 9 Jun 200311 Jun 2003

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Conference2003 IEEE Intelligent Vehicles Symposium, IV 2003
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
© 2003 IEEE.


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