Distributed data acquisition and control system for an scaled autonomous vehicle

In this paper we present an autonomous car with distributed data processing. The car is controlled by a plurality of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is processed in connection with the information of the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if the gap is large enough. The car is built in 1:10 scale, and shows excellent results on a test track.