  Vision-based driver assistance systems is one of the rapidly growing research
areas of ITS, due to various factors such as the increased level of safety
requirements in automotive, computational power in embedded systems, and desire
to get closer to autonomous driving. It is a cross disciplinary area
encompassing specialised fields like computer vision, machine learning, robotic
navigation, embedded systems, automotive electronics and safety critical
software. In this paper, we survey the list of vision based advanced driver
assistance systems with a consistent terminology and propose a taxonomy. We
also propose an abstract model in an attempt to formalize a top-down view of
application development to scale towards autonomous driving system.
