Zheng Wang has taken a model Range Rover and slapped a Raspberry Pi and camera module on top, along with a portable power supply. His aims were to build a system that would

• self-drive along a track
• detect stop signs and traffic lights
• avoid front collisions

Through a lot of image processing and detection, he has achieved his goals. Yhttps://zhengludwig.wordpress.com/projects/self-driving-rc-car/ou can read more about the project on his blog, including all the maths he had to do.