REAL-TIME VEHICLE TRAJECTORY SUPERVISION ON THE HIGHWAY

This article presents a method for real-time control of vehicle trajec tory on a highway based on an on-board vision system using a single ca mera. The system has been designed to avoid damage (e.g., due to a sle epy driver). The method is based on the real-time extraction of the la teral vehicle location, which is used to determine the vehicle traject ory. Furthermore, the system is able to correct possible bad road trac king in order to have a complete autonomy. The whole system has been i mplemented on a single TMS320C50 DSP-based card. Reliable results have been obtained on the highway over several hundreds of kilometers at l ow and high speeds reaching more than 130 km/hr.