A hardware suitable Integrated Neural System for Autonomous Vehicles - Road Structuring and Path Tracking

Abstract

Current developments in autonomous vehicle systems typically consider solutions to single problems like road detection, road following and object recognition individually. The integration of these individual systems into a single package becomes difficult because they are less compatible. This paper introduces a generic Integrated Neural System for Autonomous Vehicles (INSAV) package solution with processing blocks that are compatible with each other and are also suitable for hardware implementation. The generic INSAV is designed to account for important problems such as road detection, road structure learning, path tracking and obstacle detection. The paper begins the design of the generic INSAV by building its two most important blocks: the Road Structuring and Path Tracking Blocks. The obtained results from implementing the two blocks demonstrate an average of 92% accuracy of segmenting the road from a given image frame and path tracking of straight roads for stable motion and obstacle detection.