Fast controling autonomous vehicle based on real time image processing

In this paper, a method for Autonomous Vehicle is presented based on real time image processing. The system detects the road by sobel edge detection, and it recognizes the obstacles, humans, and traffic lights by heuristic techniques. For this aim, some features are defined based on key points. One important technique is that every frame is divided in some sections which significantly affect time of processing. The system is able to analyze 30 frames per second to get the best decision for controlling the vehicle. The achieved structure is optimized on accuracy and the number of logic cells. The algorithms completely describes in hardware by VHDL, then implemented on DE1-SOC board which uses cyclone V FPGA.