Kamera ve araç-araç haberleşmesi birleşimli gerçek zamanlı araç takibi

Nowadays autonomous cars have already started to be used in our daily lives. They are the new generation vehicles, which are able to operate themselves under certain conditions without the need of a driver's response. They can follow the lane markers and keep themselves inside the lane, track the vehicles around and decide and perform a break or even change the present lane where necessary. Driver assistance systems are the underlying technology of these vehicles. It enables them to analyze the road and traffic conditions in order to take these kinds of necessary actions. This makes the task of detection of objects at the road such as vehicles, lane markers, guardrails and even pedestrians walking by highly important. For this reason, it is also very substantial to be able to operate in real time conditions. Current studies focused on this area are mostly based on vision sensor, LIDAR, microwave sensors etc. However, they alone suffer from conditions such as high variety of targets, lighting fluctuations, short range, requirement of high process power, cost etc. In this work, we introduce a monocular camera based system, which is enhanced with the IEEE 802.11p vehicle-to-vehicle communication standard. By the help of IEEE 802.11p we aim to compensate the cons of the vision sensor systems which are mentioned above. Sensor measurements are fused using the particle filter algorithm. Due to importance of real time requirement, we also made tests on the GPU accelerated NVIDIA Tegra Jetson TK1 development board and compare with the CPU results for future development.