I'm asking, specifically, what machine vision technology it used? In 1994 there wasn't much machine vision (that I'm aware of) that would even be able to do lane-keeping, except under incredibly idealized conditions (empty roads, no weather, good lighting). If so, I would request that whomever claimed this guy invented the self driving car temper their claim.

Here is what someone on the project had to say about it:

>Our vision system relied (heavily, not exclusively) on sensing prominent horizontal features symmetric about a common centerline. (Cars and trucks, especially at the time, have a lot of horizontal lines: bumpers, window top/bottom, valence, etc.)

Thread here: https://news.ycombinator.com/item?id=10328687

Ah! Yes, I also watched the video and I see they are identifying little "cups" (one horizontal line and two vertical).

Bridges also have many hoizontal features symmetric about a common centerline. I would expect many false positives driving near bridges.

I do believe they DID use a radar system. A HN user that worked on the project did mention something about using such a sensor.