Autonomous Lane Keeping System - Short Demo

Short Demo of an Autonomous Lane Keeping System. Ran with OpenCV on the Raspberry Pi 3 with Python. Car steering and drive control by Arduino MCU. Runs in real time.

[Doktoreq]

A bit of constructive criticism. Great work with the image recognition part of the task (this part would be very hard for me) but as far as the control system parts goes it's not granular enough. Implementing PID controller (which isn't that hard) and tuning it properly would really make this project shine. As it is right now using only proportional control the car will oscillate between lines - when it gets close to one line it turns to compensate, gets too close to the second one and compensates in the other direction basically constantly going back and forth between them.

[leventeszecsy]

You should calculate the middle line of the lane and use a pid function to steer the care to the middle. Not just three different modes.

[haoranmeister]

Although this video is 4 years old its been getting lots of views recently. Thanks for all the feedback given. Just a few things to to clarify:

1) The steering of the car is very crude because this is only a demonstration of concept instead of a prototype that can actually drive around successfully. The tracking and steering will need to be fine tuned during track testing. The microcontroller can control the servo to a degree of accuracy so the steering will be smooth and continuous if tuned.
2)Raspberry Pi outputs are connected to the MCU which performs steering and drive of the car with lane following instructions from OpenCV. Both the Pi and MCU is powered by a portable battery bank which can be fitted onto the car.
3) The car was fully drivable and ready for real track testing but I didn't have the time or the space for testing which is a shame because I believe with some tuning it would perform well.

I'm glad people are enjoying this video and hopefully it inspires some of you to start your own projects.

[radekrehacek]

As a someone who had very similar master thesis and afterwards worked for PSA group and VW concern on development of lane keeping assists I have to say, your are doing great job.
Few advices:
1. The video does not provide feedback loop for the car so the behaviour is not actually being tested -> Create virtual environment in the Unity engine, generate the road there, simulate the car there. (I did it this way and it worked like a charm)
2. For better control definitelly implement PID controller. Not difficult, works pretty well after polishing it up.
3. To have the best possible results calculate the path of the car in the middle of the lanes by fitting the polynomial of 3rd order (very difficult, huge overhead and for your purpose not necessary)

[open-ats]

this is cool will impement it on my project, i controll everthing over the internet and have a videostream with opencv too

[Vaterkrater]

My first thought was: Why is he not looking farther down the road? Like every sensible driver does ;)

[hgplaying]

Nice, but I think that you'd get into quite some trouble since you've got a really agressive steering. You only have two levels of steering intensity, which are running without any regulator (take a look at a pid regulator for example) because if you would try this out, your vehicle would probably (chanses are really high) start wobbling between right and left

[rapidrabbit]

Dude just casually dividing by zero in the background, going to destroy the whole planet with a lane keeping system.

[huggybeardeluxe]

Sometimes you gotta steer right to go left.

[sammythewhammy]

Looks like everyone is getting recommended this!

[abaci]

Dude steering movement should be adverse. Road is going left, car would go right of the road if no action is done. But your car steers towards right. But appreciate your coding skills congrats 👏

[yuvanm]

Everybody gangsta until croswalk comes and loop holes kick in

[Koderwaska]

idea: draw an road with some curves on a threadmill an let the car drive on it with lane assist

[sttonep]

How cute! That little car is watching a video and learning. Some day it's going to be a big sedan driving on real road

[williamledda]

Left turn and you steer right? To compensae and try to stay in the middle of the lines? Something wrong in the implementation, you should follow the turn instead in my opinion.

[lordrefrigeratorintercoole]

Video of human driving off center

AI "ohhh sht sht sht fuuuu**!!!"

[godtux]

This is very nice. I was planning in doing the same exact setup : 1/10 rc car, arduino controlled, and opencv on a raspeberry pi, but only following a line, wich should be far easier then the car lane of this demo. I would vey much like some pointers to get started.

[pythonocean]

i dont think your model is predicting well.

[MrJeddd]

although this is super cool and major respect to the creator buuut its completely coded wrong considering what the rc should be doing... +resp

[SquidBilly]

Huh. That's actually neat, thanks YouTube algorithm.