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This paper presents the first prototype of the PAPRICA massively parallel system which is integrated on the MOB-LAB experimental land vehicle for real-time vision-based road markings detection. Its main bottlenecks are highlighted and its evolution toward a linear array is discussed. This system has been enhanced with a simple but powerful interprocessor communication network for the exchange of information among processors not directly connected, which allows an extremely efficient implementation of the road markings detection algorithm as well as other morphological applications.