Development of autonomous cruise control system for convoy vehicle / Daniel Sim Yeat Han, Foong Chee Hin and Hudyjaya Siswoyo Jo

This paper presents the tracking and navigation
techniques to enable an autonomous vehicle to navigate itself by
following the car driving in front of it. The autonomous driving is
achieved by tracking and following the leading vehicle based on
the visual information acquired by a camera. The position and
distance of the leading vehicle are extracted from the
characteristics of the unique marker attached at the back of the
leading vehicle. Based on the position and distance information,
the vehicle will navigate itself to achieve the desired maneuver
and distance with respect to the leading vehicle. The visual
tracking algorithm is implemented using image acquisition and
image processing toolboxes in MATLAB and the navigation
algorithm is designed using model-based design approach using
SIMULINK.