diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4e0f1a..168ca82 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
 project(CarSmartCam)
 
 # Setup for TensorRT
-set(GPU_ARCHS 53)  ## config your GPU_ARCHS,See [here](https://developer.nvidia.com/cuda-gpus) for finding what maximum compute capability your specific GPU supports.
+set(GPU_ARCHS 75)  ## config your GPU_ARCHS,See [here](https://developer.nvidia.com/cuda-gpus) for finding what maximum compute capability your specific GPU supports.
 
 set(CMAKE_BUILD_TYPE Release)
 
@@ -157,6 +157,7 @@ target_link_libraries(${PROJECT_NAME}
     lane_detector
     car_status
     car_gps
+    nvonnxparser
 )
 
 # Copy files
diff --git a/README.md b/README.md
index 791f7c9..ed2ac48 100755
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@ An advanced driver-assistance system on Jetson Nano embedded computer with four
 
 **Update 21/12/2020:** I created an image of my SD card [here](https://drive.google.com/file/d/1jg68ySnTt4Zm_hb4JVZKKWXRWkDucqUu/view?usp=sharing). You can flash and run this image on Jetson Nano.
 
-**For TensorRT 7 support:** Currently, only TensorRT 5 and TensorRT 6 are supported. TensorRT 7 has a lot of deprecated APIs and I think there is no way to run this project directly with that version. I don't have time to continue with this project soon, so I really need your contributions to extend this project further. 
+**For TensorRT 7 support:** Currently, only TensorRT e and 6 are supported. TensorRT 7 has a lot of deprecated APIs and I think there is no way to run this project directly with that version. I don't have time to continue with this project soon, so I really need your contributions to extend this project further.
 
 ## I. DEVELOPMENT ENVIRONMENT AND BUILD
 
@@ -20,9 +20,8 @@ An advanced driver-assistance system on Jetson Nano embedded computer with four
 - Qt 5
 - OpenCV >= 4.0.1
 - C++ 17 compiler
-
 - CUDA 10.1
-- TensorRT 5.1.5-1+cuda10.1. **This project should work with TensorRT 5 and TensorRT 6. TensorRT 7 is not supported for now.**
+- TensorRT 5.1.5-1+cuda10.1, or - TensorRT 6.0.1.8+10.2. **This project should work with TensorRT 5 and TensorRT 6. TensorRT 7 is not supported for now.**
 
 ### Setup for Linux - Ubuntu 18.04
 
@@ -77,21 +76,66 @@ make
 ```
 
 
-#### Known errors
+#### Known issues
+
+**Issue: cublas_v2.h not found**
 
-- `/usr/bin/ld: cannot find -lcudart`:
 ```
-sudo ln -s /usr/local/cuda/lib64/libcudart.so /usr/lib/libcudart.so
+fatal error: cublas_v2.h: No such file or directory
+ #include <cublas_v2.h>
+          ^~~~~~~~~~~~~
+compilation terminated.
 ```
 
-- `/usr/bin/ld: cannot find -lcublas`:
+- Step 1: Find lib: `find /usr/local/ -name cublas_v2.h`.
+- Step 2: Export to path: `export CPLUS_INCLUDE_PATH=$CPLUS_INCLUDE_PATH:/usr/local/cuda-10.2/targets/x86_64-linux/include/`.
+- Step 3: Use CMake and build.
+
+**Issue:  `/usr/bin/ld: cannot find -lcudart`, `/usr/bin/ld: cannot find -lcublas`**
+
+```
+sudo ln -s /usr/local/cuda/lib64/libcudart.so /usr/lib/libcudart.so
+```
 ```
 sudo ln -s /usr/local/cuda/lib64/libcublas.so /usr/lib/libcublas.so
 ```
 
+**Note:** The paths can be different on your computer.
+
+**Issue: Qt5Multimedia missing**
+
+```
+Could not find a package configuration file provided by "Qt5Multimedia"
+  with any of the following names:
+
+    Qt5MultimediaConfig.cmake
+    qt5multimedia-config.cmake
+```
+
+How to fix?
+
+```
+sudo apt-get install qttools5-dev-tools libqt5svg5-dev qtmultimedia5-dev
+```
+
+**Issue:  Need to specify CUDA root**
+
+```
+[cmake] CMake Error at /usr/share/cmake-3.10/Modules/FindCUDA.cmake:682 (message):
+[cmake]   Specify CUDA_TOOLKIT_ROOT_DIR
+```
+
+How to fix? 
+
+```
+export CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-10.2/
+```
+
+You should change the path corresponding to your environment.
+
 ## II. REFERENCES:
 
 - In this project, we use code from:
     + Dark Theme for Qt5 by Juergen Skrotzky: [https://github.com/Jorgen-VikingGod/Qt-Frameless-Window-DarkStyle](https://github.com/Jorgen-VikingGod/Qt-Frameless-Window-DarkStyle).
 
-- ICSim
+- ICSim: <https://github.com/zombieCraig/ICSim>.
diff --git a/src/common/camera_model/birdview_model.h b/src/common/camera_model/birdview_model.h
index 0d48d32..98910f0 100644
--- a/src/common/camera_model/birdview_model.h
+++ b/src/common/camera_model/birdview_model.h
@@ -3,6 +3,7 @@
 
 #include <opencv2/opencv.hpp>
 #include <atomic>
+#include <mutex>
 #include "utils.h"
 
 class BirdViewModel {