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The project of the ITS (Intelligent Transport Systems) has been actively promoted researches and developments for the safe and efficient traffic. In the project, development of the lane detection algorithm is indispensable. Under outdoor environment, it is very difficult to detect a lane and to distinguish the various obstacles by vision systems, due to optical problems. Here we propose the Active Contour Model Method, which is known as the most robust method to detect the lane contour. The vehicle based on an electric wheelchair for handicapped persons was used to examine the validity of the method.

The advanced safe driving of vehicles have fully depended on the development of the safe driving systems. The final strategy must take the drivers skill into account. This paper describes a method to detect and evaluate driving skill. We present a new system to measure the curvature of driving loci against the distance by using speed and rate gyro sensors and present a method to extract the driving curvature from that of road itself. It includes the information of drivers' skill by which the driving conditions can be evaluated.

A new concept for communication for platooning of leader-follower vehicles is presented. The leader vehicle is equipped by a omni directional camera and laser radar. The omni directional camera can capture a omni directional views and the view information is used to autonomously control the leader vehicle. The laser radar set to the rear part of the leader vehicle detects the relative distance and angle of the follower vehicle. By the information of the relative position and angle of the follower vehicle, control instructions are generated and sent via vehicle-to-vehicle communication between the leader vehicle and the follower vehicle.

This paper describes the accurate and detailed estimation of traffic conditions around our vehicle on road by the incomplete laser radar signals. The conventional laser radar system monitors only one vehicle that runs just in front of the our vehicle. Careful observation of the laser radar signals includes more information than that required. This research aims at developing a new traffic condition monitoring system that monitors 8 to 10 vehicles that run around our vehicle by fully using the signals from the radar.