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In this paper we propose a traffic sign recognition system using an on-board single camera for Advanced Driver Assistance Systems (ADAS), including detection, recognition and tracking. We combine RGB ratios based color segmentation with automatic white balance preprocessing and Douglas-Peucker shape detection to establish ROIs. Scale and rotation invariant BRISK features are applied for recognition, matching the features of the candidates to those of template images that exist in database. Tracking-Learning-Detection (TLD) framework is adopted to track the recognized signs in real time to provide enough information for driver assistance function. This paper presents lots of experiments in real driving conditions and the results demonstrate that our system can achieve a high detection and recognition rate, and handle large scale changes, motion blur, perspective distortion and various illumination conditions as well.