Real Time Vision System for Autonomous Vehicles

Abstract

With the increase in vehicle accidents regularly, there is a need to control these accidents and save precious lives. The main reason for accidents on roads are mainly observed by driver misconception, recklessness and over speeding. So, there is a need to develop a Vision system which has a ability to explore its surroundings and move accordingly. The Vision system is divided into 3 subsystems as Visual perception subsystem, Brake and Acceleration subsystem and Steering control subsystem. The Visual perception means the ability to interpret surrounding environment using light in the visual spectrum reflected by the objects in the environment. This subsystem uses distance measuring sensors such as Light Detection and Ranging (LiDAR) and Ultrasonic sensors for detecting objects and sends the data to brake and acceleration subsystem using Arduino IDE software. According to the data received either the brake or acceleration is initiated, it means that when the distance measuring sensor values reach the threshold values then the brakes are applied or else acceleration is implemented. In order to have a smooth ride the acceleration should be uniform without any jerks though speed changes. This is resolved by using Proportional-Integral- Derivative (PID) controller which reduces the gradual difference between the desired and input speed. The Steering control subsystem involves lane detection and path tracking. The lane detection is done using Python and OpenCv which uses various image processing steps, gives the steering angle by calculating the curvature radius of lanes. Therefore path tracking system is initialized taking the steering angle and direction as input for controlling the position of the vehicle.