Line detection system design of autonomous car based on the vision navigation
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Date
2017-06
Authors
Mokhsein Abdullah
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Abstract
Autonomous or driverless cars are developed and invented for transportation of human and things from one place to another without human control. The car basically uses sensors to locate its position and move accordingly. Problem arise when the car possesses slow response towards different road conditions such as sharp turns and high hills. This might lead to unstable motion of the car on the road and eventually might lead to traffic accident. This project represents the design of an autonomous car based on microcontroller and vision sensor. The objective of this project is to use vision or camera sensor and embedded system to detect black lines drawn on white color track and drive the car autonomously. Line scan camera, FRDM-KL25Z and FRDM-TFC board microcontroller, DC motors and servo motor are required to be tested with the car for this project. CMOS camera is used as the main sensor to capture the data of black and white pixels on the track and send them to the FRDM-KL25Z microcontroller to be processed. The camera is placed on the top of the car after considering the high of the camera and the field of view of the camera. The output of the camera is used to calculate the current position of the car and the output will be fed into algorithm of PID controller in term of error for steering (servo motor) and speed control (DC motors) of the car. A MATLAB and Simulink program will be used for developing the embedded system of this project. Normal and Figure of 8 are two types of track used in this project where the time taken to complete one lap for each type is recorded to observe the performance of the car. Based on the result obtained, the value of 5 and 4 for both Proportional and Integral gains allowed the car to finish both tracks in 13.08s for Normal track and 9.75s for Figure of 8 track. The time is considered as the fastest recorded for this project. The speed used in this project is 40% of the full speed and this is fairly fast that the car can possess in order to move on the track smoothly.