A Stage II
Project Presentation on
“PATH PLANNING FOR AUTONOMOUS
VEHICLE”
ZES ZCOER , Pune
Guided By,
Presented By,
Prof.
Mr./Miss. Roll No.
Assistant Professor
Department of Electrical
Engineering
Zeal College of Engineering, Research. Pune
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Outline
Introduction
Problem Statement
Objective
Literature Survey
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Methodology
Software and hardware used
System diagram
Flowcharts
Conclusion
References
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Introduction
In recent years, automatic/self driving cars have drawn much interest as a
topic of research for both academic and industry ,which helps in better time
utilization ,fatigue reduction ,human comfort and safety .
To enable self-driving cars to find the safest, most convenient, and most
ZES ZCOER , Pune
economically beneficial routes from Point A to B we will combine the input
sensors and camera and to output proper commands.
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Problem statement
The goal of this Project is to devise an algorithm that produces an optimal
path in time to reach the goal in a dynamic environment with moving
obstacles.
ZES ZCOER , Pune
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Objective
It is important to find a generic and reliable path planning algorithm that can
be applied to any type of autonomous vehicle to reach the goal in a rapidly
changing traffic environment. The purpose of this project is to simulate various
situations that are difficult to realize and to apply the appropriate algorithm.
ZES ZCOER , Pune
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Literature Review
Sr. Name of Paper/Thesis Points taken
No
.
[1] Paden, Brian, et al. "A survey of Path planning techniques.
motion planning and control Path finding techniques
ZES ZCOER , Pune
techniques for self-driving urban
vehicles." IEEE Transactions on
intelligent vehicles 1.1
Learnt about real time lane
[2] Assidiq, A. A., Khalifa, O. O.,, M. Detection.
R., & Khan, S. (2008, May). m Real
t Islaime lane detection for
autonomous vehicles. IP(pp. 82-88).
IEEE. Learnt about number plate detection
[3] Applied Computational Intelligence
and Soft Computing
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Literature Review
Sr. Name of Paper/Thesis Points taken
No
.
[4] AutoRally: An Open Platform for Predictive control to steer the
Aggressive Autonomous Driving. vehicle while primarily uses camera
ZES ZCOER , Pune
James M. Rehg. Control Systems
Magazine (CSM), 2019
[5]
Lane detection
Journal of sensors
Detection of obstacles .
[6] KIM_M.pdf, by Minchaul kim. Path tracking.
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Methodology
Path planning process depends on three things Localization ,mapping and
tracking of objects.
The task performed by autonomous vehicle can be even furthered by
including traffic signs which includes
ZES ZCOER , Pune
Use of the field of image processing to achieve dynamic detection .
Combination of input sensor and camera and to output proper commands to t
Control of the car along the track by using IR sensors & traffic sign & plate
detection by Raspberry pi.
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Software used
Python
Anaconda
Spyder software
Haar cascade
Raspbian.
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Opencv,numpy .
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Hardware used
Raspberry pi
Raspberry pi pinout
Raspberry pi camera module
Raspberry pi 16*2 LCD
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System diagram
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Flowchart for Lane detect
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Flowchart for Traffic sign Detection
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Conclusion
The computer vision algorithm is used for detection of lane lines,number
plate and traffic sign detection ,provides good result for image taken in
standard lighting. The co-ordinates of the lines can be used to set a trajectory
for vehicle to maintain the position in the center of the lane.
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References
Paden, Brian, et al. "A survey of motion planning and control techniques for self-driving
urban vehicles." IEEE Transactions on intelligent vehicles 1.1
Assidiq, A. A., a, Khalif O. O. M. R., & Khan, S. (2008, May). m Real t
Islaime lane detection for autonomous vehicles. IP(pp. 82-88). IEEE.
ZES ZCOER , Pune
AutoRally: An Open Platform for Aggressive Autonomous Driving. James M.
Rehg. Control Systems Magazine (CSM), 2019
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ZES ZCOER , Pune
Thank You…
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