Change search
ReferencesLink to record
Permanent link

Direct link
Automated vehicle follower system based on a monocular camera
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Automatiserat fordonsystem for foljning baserat pa en monokular kamera (Swedish)
Abstract [en]

This report proposes a solution for an automated vehicle follower based on one front-facing monocular camera that can be used to achieve platooning for a lower cost than the systems available on the market today. The sensor will be local to the automated follower vehicle, i.e. no Vehicle-to-Vehicle (V2V) communication.

A state-of-the-art chapter describes di erent aspects of platooning, computer vision techniques, state of the art hardware developed especially for autonomous driving as well as systems closely related to the proposed solution.

The theory behind the performed implementations such as trajectory, controls, image operations and vehicle models will be presented, followed by a chapter dedicated to the actual implementation.

The experimental vehicle used to validate the solution was a modied 1=12 scale radio controlled (RC) car. An Arduino controls the steering and driving motor, and a PC mounted on the vehicle uses a webcam to capture images. The preceding vehicles position relative the follower vehicle was calculated from captured images from the webcam and a trajectory towards the preceding vehicles path was generated from a cubic curve.

Measurements from a stereo vision system was used to evaluate the accuracy of the follower vehicle and minimal spacing needed between follower and preceding vehicle. The follower vehicle satisfy the behavior of following a preceding vehicle, but the accuracy of the follower vehicle should be improved to generate a more accurate trajectory before being tested on a larger scale vehicle.

The solution shows that a monocular camera can be used to follow a vehicle, and with implementation of a GPS module and a fuzzy velocity controller it could be used to test on a full sized vehicle.

Abstract [sv]

Denna rapport foreslar en losning som gor det mojligt att automatisera ett fordon genom en monokular kamera som foljer en framforvarande ledbil som skulle kunna anvandas inom platooning for en lagre kostnad an de losningar som nns pa marknaden idag. Sensorn ar lokal till det automatiserade fordonet och anvander sig inte utav V2V kommunikation.

Ett state-of-the-art kapitel beskriver olika aspekter inom platooning av fordon, datorseende, specikt framtagen hardvara for automatiserade bilar samt automatiserande system som nns inkluderade i bilar idag. Teorin bakom implementationen av bilens trajektoria, reglerteknik, bildbehandlingsoperationer och fordonsmodeller presenteras ocksa. Teorin anvands sedan for att utveckla en prototyp som anvands till att besvara forskningsfragorna.

Prototypfordonet ar en modierad radiostyrd bil i skala 1/12. En Arduino styr drivmotor och styrning medan en PC monterad pa bilen anvander sig av en webbkamera for att ta bilder. Ledbilens position relativt foljbilen beraknas med hjalp av bilderna och en bana att folja efter genereras av en tredjegradskurva.

Matningar genom ett stereo vision system anvandes for att besvara fragor angaende noggranheten for den utvecklade efterfoljande bilen samt lagsta sakra avstand som kan anvandas mellan bilarna. Den utvecklade prototypbilen foljer efter ledbilen pa ett onskvart satt, dock borde trajektorian som den foljer utvecklas mera innan testning utfors pa storre fordon.

Losningen pavisar att en monokular kamera kan anvandas for att folja efter en bil. Om systemet utokas med en GPS modul och en fuzzy hastighetskontroll kan denna losning testas med bilar i full storlek.

Place, publisher, year, edition, pages
2016. , 90 p.
Series
, MMK 2016:101 MDA 555
Keyword [en]
Automated, Vehicle, Platooning, Follower, Monocular Camera
Keyword [sv]
Automatiserat, Fordon, Platooning, Foljning, Monokular kamera
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-192305OAI: oai:DiVA.org:kth-192305DiVA: diva2:967576
External cooperation
Cybercom Group AB
Supervisors
Examiners
Available from: 2016-09-09 Created: 2016-09-09 Last updated: 2016-09-09Bibliographically approved

Open Access in DiVA

fulltext(3975 kB)5 downloads
File information
File name FULLTEXT01.pdfFile size 3975 kBChecksum SHA-512
ec0147842210cc1f3645e7c7f304d39d4b5b3b295c89d852d9cf26f9deb3bf439e9f2a25ac46676299a58c043ce9504dcf36a7f71e3b9176f5da0486594dd93e
Type fulltextMimetype application/pdf

By organisation
Machine Design (Dept.)
Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 5 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 337 hits
ReferencesLink to record
Permanent link

Direct link