Use of the information about a pitch angle value in systems with 
dynamic data processing allows to reduce frequency of frames 
processing while solving a task of road marking lines tracking 
up to 10 Hz. It enables to free time for a solution of other tasks 
in systems of intellectual driving. At that, a level of false 
detection and time of road marking lines detection considerably 
decrease because of a decreasing of quantity of the processed 
videoinformation. 
The method of dynamic correction of direct measurements of 
vertical coordinate of a point of convergence of lines allows to 
reduce root-mean-square error of pitch measurement in 1.5— 
2 times and practically to exclude anomalous measurement. 
S. REFERENCES 
Broggi, A., Bertozzi, M., Fascioli, A., Conte, G., 19993, 
Automatic Vehicle Guidance: the Experience of the ARGO 
Autonomous Vehicle, World Scientific. 
Broggi, A., Bertozzi, M., Fascioli, A., Guarino, C., Piazzi, A., 
1999b. The ARGO Autonomous Vehicle's Vision and Control 
System, International Journal of Intelligent control and 
Systems, Vol.3, No 4, pp.409-441. 
Lisitsyn, V., Obrosov, K., 1998. Concept of Building an 
Electro-Optical System of Semi-Automatic Car Driving on 
Highways, International Archives of ISPRS, Vol.32, Part B-5, 
pp.757-762. 
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