Lane tracking and autonomous cruise control for automatic highway system

In this paper a vision based lane tracking and velocity dependant cruise control system is presented as automatic highway system. The system developed, uses different image processing techniques to detect lanes. It maintains a safe distance by calculating the distance from the leading vehicle. For lane tracking and to calculate the orientation of the vehicle on the road, Hough transform is used. On the other hand, a PID controller is designed for the nonlinear vehicle dynamics in order to track the velocity of the leading vehicle and to maintain a safe distance. The complete model has been implemented and simulated using Matlab and the results shows that the system successfully detects the lanes and the distance from the leading vehicle.