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视觉系统是自主式车辆的关键子系统，它的任务是将传感器所获得的数据进行处理，产生周围环境的描述。二维视觉给出道路的符号描述，三维视觉给出障碍物位置的描述。本文主要讨论二维视觉处理，并提出一种适于硬件实现的双自适应系统。
Vision system is the key subsystem of autonomous vehicle. Its mission is to process the data obtained by the sensor and generate the description of the surrounding environment. Two-dimensional vision gives a symbolic description of the road, three-dimensional vision gives a description of the location of obstacles. This paper mainly discusses two-dimensional visual processing, and proposes a dual adaptive system suitable for hardware implementation.