2Maurer,Behringer,Thomanek F, et al. A Compact Vision System for Road Vehicle Guidance, In: Proceedings of the 13th International Conference on Pattern Recognition, 1996
3杨欣欣．智能移动机器人导航与控制技术研究．北京：清华大学计算机科学技术系，1999..
4杨明．无人自动驾驶车辆研究综述与展望，TP242．6
5王培.无人驾驶智能车的导航系统研究[D].西安:西安工业大学.2012.
6Siva R K. Narla. The evolution of connected vehicle technolo- gy: from smart drivers to smart cars to". self-driving cars [J]. ITE Journal, 2013(7) : 22-26.
7Campbell M, Egerstedt M. Autonomous driving in urban envi- ronments: approaches, lessons and challenges [J]. Philo- sophical Transactions of the Royal Society, 2010 (9) .. 4649- 4672.
