Road tracking control for an intelligent vehicle | |
| Author | Nguyen Le Minh Thu |
| Call Number | AIT Thesis no.ISE-07-32 |
| Subject(s) | Image processing--Digital techniques Road markings |
| Note | This thesis submitted in partial fulfillment of the requirement for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-32 |
| Abstract | One of intelligent vehicle properties is to run following the road marking. By analyzing the captured image from digital camera, the marked road will be recognized in this system. On a car, we choose reference point to compare positions of the car with the marked road. Declination angle between road marking and position will be sent to micro-controller for controlling steering and speed motor. Depending on angle value, the car will turn right and left or go ahead with constant speed. In order to manage the car in various weather conditions, noise filter methods are considered carefully in image processing algorithm. A limit of the interested region is one of initial the image processing steps. Besides, the place for putting camera should be considered in order to get clear marked road enough. The Hough transform method is applied to detect the road marking. In the purpose of decreasing noises as much as possible, limit of magnitude of gradient, threshold and median filter are applied to identify marked road. The system adapts quite well with various weather conditions; such as sunny, overcast, shadow and leaf noise or bad quality of the road. Time for processing per frame on average is 0.45 second, so the velocity of car can reach to 5km/h |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-32 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Dailey, Matthew; |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |