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Pedestrians in the vehicle path are in danger of being hit, thus causing severe injury to pedestrians and vehicle occupants. Therefore, real-time pedestrian detection with the video of vehicle-mounted camera is of great significance to vehicle–pedestrian collision warning and traffic safety of self-driving car. In this article, a real-time scheme was proposed based on integral channel features and graphics processing unit. The proposed method does not need to resize the input image. Moreover, the computationally expensive convolution of the detectors and the input image was converted into the dot product of two larger matrixes, which can be computed effectively using a graphics processing unit. The experiments showed that the proposed method could be employed to detect pedestrians in the video of car camera at 20+ frames per second with acceptable error rates. Thus, it can be applied in real-time detection tasks with the videos of car camera.