VISION BASED LANE TRACKING & GUIDANCE

Computer Based System for Guiding an Autonomous Vehicle on Marked Lane using Image Processing

What is Lane Tracking?

• It is identification of road lane in which an autonomous vehicle is moving and track it in real time.
• In real time processing an autonomous vehicle tracks the white lane marked on the road and follows throughout the path.

Motivation

• Today we observe an increasing demand for traffic safety systems to minimize the risk of accidents.
• That is why we need a smart system that can navigate and automates the vehicle and also provide driver assistance.
• To overcome these problems we develop a system that will track the lanes and guide the vehicle automatically in real time.

Vision Sensor

• Most robust sensor, which can equip a sensory system with large variety of information.
• The image of the scene captured by the vision sensor can be used for accurate specification of relative positions of the AGV.
• In our case a CCD web-camera will be used to capture the scene of the road in real time as input.

Block Diagram

System Layout

On board Camera

Image acquisition

Computer

Image Processing

Output Image

Interface

Circuit

Drive Control

Steering mechanism

Machine Vision

Image Enhancement

Image Segmentation

Curve fitting and

Lane

Identification

Image Acquisition

Image Segmentation

Identification of Lane and �Vanishing Point

More Images

More Images (cont.)

Matlab Program

Matlab Program

Hardware

• Hardware consists of the following components
• CCD Camera
• Parallel (LPT) port Interface
• Control Circuits
• Electrical Drives ( Servo motor)
• Steering Mechanism

CCD Camera

• CCD Web Camera : Mfg. Quantum 500k pixels web camera used at

640 x 480 resolution.

Parallel (LPT) port

Control Circuits

• DAC 0808 IC – 8 bit linear Digital to analog Converter.

Control Circuits

• NE555 IC – PWM [Pulse Width Modulation] Circuit Using 555 Timer

Servo Motor

• Servo Motor : Mfg. Ace RC S1903

Torque (Kg-cm): 3.0

Speed (sec / 60°): 0.19

Gear Type: 4 Plastic

Bearing: 2 Bushing

Dimensions (mm): 40.4 x 20.0 x 37.9

Weight (g): 46.5

Ackerman Steering Mechanism

Project Phases

• Algorithm
• Program
• Interface Of Input Device – CCD Camera
• Testing
• Interface Of Output Controls – LPT Port, Devices & Drives
• Assembly Of Hardware
• Calibration
• Application Run

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More to achieve

• Lane changing
• Automated Braking, obstacle detection
• Automatic Traffic Signal Identification
• Accident Avoidance
• Automatic Sign board reading

References

• Digital Image Processing

by Rafael C. Gonzalez and R.E.Woods

• www.mathworks.com

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Thank You