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This paper is an overview of the UGV (Unmanned Ground Vehicle)'s technical aspects. Among them, it contains information on the vision sensor which is responsible for the visual part using input image data. First, it describes role of vision sensor in Unmanned Ground Vehicle. Next, it explains image processing system applied to the necessary algorithms about UGV's obstacle detection.

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In this research, began to research for create local map for the unmanned ground vehicle to create efficient driving path. Detected space that car can drive freely and to create local map based on information of the free-driving space. Generate disparity image using stereo image and by utilizing the uv-disparity domain that has been converted from disparity image to classify surrounding environment, obstacles space and ground space. Finally, create local map by using the free-driving space that classified so can it be referenced when generate driving path.

Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehiclesare one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systemsarenow a typical technology. This system constantly maintains a vehicle's speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a 'Driving Safety' measure as they can detect a situation that a driver did not predict and can interveneby assuming a vehicle's longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed toovercome some existing limitations.