How to design autonoumous test vehicle with lane keeping

Autonoumous vechicle coure need student to design their own AV, there are four steps.

(1) Calibrate the camera, and know how to use the parameters to get world coordinate. of course, you should know the vehicle center line.

(2) line detection. gaussian filter, edge detection, hough transformation. 

   and you should merge the line, how to merge?

(3)Logic control.

when the light affect the result, you lose your line(left or right or both), how to control.

Karman filter?

(4) the vehicle speed maybe to fast, you may increase the load or use rope to pull it and decrease the speed.