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Using Visual Lane Detection to Control Steering in a Self-driving Vehicle

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Smart City 360° (SmartCity 360 2016, SmartCity 360 2015)

Abstract

An effective lane detection algorithm employing the Hough transform and inverse perspective mapping to estimate distances in real space is utilized to send steering control commands to a self-driving vehicle. The vehicle is capable of autonomously traversing long stretches of straight road in a wide variety of conditions with the same set of algorithm design parameters. Better performance is hampered by slowly updating inputs to the steering control system. The 5 frames per second (FPS) using a Raspberry Pi 2 for image capture and processing can be improved to 23 FPS with an Odroid XU3. Even at 5 FPS, the vehicle is capable of navigating structured and unstructured roads at slow speed.

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Author information

Authors and Affiliations

  1. Department of Mechatronics Engineering, Kennesaw State University, 1100 South Marietta Parkway, Marietta, GA, 30060, USA

    Kevin McFall

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  1. Kevin McFall
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Correspondence to Kevin McFall .

Editor information

Editors and Affiliations

  1. University of Toronto, Toronto, Ontario, Canada

    Alberto Leon-Garcia

  2. Skoda Auto University, Mladá Boleslav, Czech Republic

    Radim Lenort

  3. Skoda Auto University, Mlada Boleslav, Czech Republic

    David Holman

  4. Škoda Auto University, Mladá Boleslav, Czech Republic

    David Staš

  5. Mendel University Brno, Brno, Czech Republic

    Veronika Krutilova

  6. Škoda Auto University, Mladá, Czech Republic

    Pavel Wicher

  7. Slovak University of Technology, Trnava, Slovakia

    Dagmar Cagáňová

  8. Slovak University of Technology, Bratislava, Czech Republic

    Daniela Špirková

  9. Slovak University of Technology, Brno, Czech Republic

    Julius Golej

  10. University of Quebec´s ETS, Montréal, Canada

    Kim Nguyen

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© 2016 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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McFall, K. (2016). Using Visual Lane Detection to Control Steering in a Self-driving Vehicle. In: Leon-Garcia, A., et al. Smart City 360°. SmartCity 360 SmartCity 360 2016 2015. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 166. Springer, Cham. https://doi.org/10.1007/978-3-319-33681-7_77

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  • DOI: https://doi.org/10.1007/978-3-319-33681-7_77

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33680-0

  • Online ISBN: 978-3-319-33681-7

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