Perception

Perception

Lane Detection:

• Estimates lane geometry and midpoint error (PID input).
• Produces a trajectory line (MPC input).

Object Detection:

• Detects obstacles and road; triggers emergency braking if non-road intersects trajectory.
• Supports ACC by estimating relative speed from frame-to-frame distance.
• Supports LKAS with lane proximity thresholds.

Traffic Signs/Lights:

• Detected ROIs are cropped and classified in a secondary thread.
• Results are published to controllers to adjust speed or stop.