Development of autonomous test vehicle using image processing

This paper describes an implementation of the autonomous road vehicle HSSV (Hyundai Smart Safe Vehicle), which can run on Belgian roads with natural road boundaries. The HSSV consists of a vision system, braking system, and remote control system. The vision system determines the steering angle from road images, and the braking system controls the speed of HSSV, depending on the distance to obstacles and curvature of the road. With the remote control system, HSSV can be controlled manually from a remote cite using the video image transmitted from the vehicle. HSSV is constructed from a 15 seat bus and can run at 30 km/h on straight Belgian roads, and 10 km/h on sharply curved roads.