Automatic change detection of driving environments in a vision-based driver assistance system

Chiung Yao Fang*, Sei Wang Chen, Chiou Shann Fuh

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

73 Citations (Scopus)


Detecting critical changes of environments while driving is an important task in driver assistance systems. In this paper, a computational model motivated by human cognitive processing and selective attention is proposed for this purpose. The computational model consists of three major components, referred to as the sensory, perceptual, and conceptual analyzers. The sensory analyzer extracts temporal and spatial information from video sequences. The extracted information serves as the input stimuli to a spatiotemporal attention (STA) neural network embedded in the perceptual analyzer. If consistent stimuli repeatedly innervate the neural network, a focus of attention will be established in the network. The attention pattern associated with the focus, together with the location and direction of motion of the pattern, form what we call a categorical feature. Based on this feature, the class of the attention pattern and, in turn, the change in driving environment corresponding to the class are determined using a configurable adaptive resonance theory (CART) neural network, which is placed in the conceptual analyzer. Various changes in driving environment, both in daytime and at night, have been tested. The experimental results demonstrated the feasibilities of both the proposed computational model and the change detection system.

Original languageEnglish
Pages (from-to)646-657
Number of pages12
JournalIEEE Transactions on Neural Networks
Issue number3
Publication statusPublished - 2003 May


  • Cognitive model
  • Configurable adaptive resonance theory (CART) neural network
  • Driver assistance system
  • Perceptual, and conceptual analyzers
  • Sensory
  • Spatiotemporal attention (STA) neural network
  • System to detect change in driving environment

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Computer Networks and Communications
  • Artificial Intelligence


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