Realization of the Autonomous Driving System on the Experimental Vehicle

Namig ALİYEV; Mehmet Turan GÜZEL; Oğuzhan SEZER

doi:https://doi.org/10.21541/apjess.1060763

Makale detayları

Realization of the Autonomous Driving System on the Experimental Vehicle

Yazarlar:

Namig ALİYEV | Mehmet Turan GÜZEL | Oğuzhan SEZER

Yayıncı:

Akademik Perspektif Derneği

Ana Başlıklar:

Özel bilgisayar yöntemleri

Dergi:

Academic Platform Journal of Engineering and Smart Systems 2022 Vol.10 Issue 1, pp.48-56

Belge Tipi:

Makale

Yayın Tarihi:

12/2021

Belge Dili:

İngilizce

Document ID (Org No.):

2000874380

Sıklık:

Aylık

eISSN:

2822-2385

DOI:

https://doi.org/10.21541/apjess.1060763

Özet:

 

Running control software on limited computing resources is considered one of the toughest problems. In this study, an autonomous driving software has been developed that can safely complete the map by tracking the lanes and avoiding obstacles on a robot vehicle with limited hardware components. The data was simplified with the image processing technique and the neural network was trained. Overfitting was prevented by hyperparameter tuning and synthetic data augmentation. In order to avoid obstacles, optical flow was calculated by detecting corners every 4 seconds and was used to find the focus of expansion of the vehicle. Time-to-collision was found with the FOE and the distance between the previous position and the current position of the detected point. Optimization was made by averaging the values of close points. The balance mechanism was created according to the TTC difference calculated on the right and left parts of the vehicle.

Makale detayları

Realization of the Autonomous Driving System on the Experimental Vehicle

Yazarlar: Namig ALİYEV | Mehmet Turan GÜZEL | Oğuzhan SEZER

Yayıncı: Akademik Perspektif Derneği

Ana Başlıklar: Özel bilgisayar yöntemleri

Dergi: Academic Platform Journal of Engineering and Smart Systems 2022 Vol.10 Issue 1, pp.48-56

Belge Tipi: Makale

Yayın Tarihi: 12/2021

Belge Dili: İngilizce

Document ID (Org No.): 2000874380

Sıklık: Aylık

eISSN: 2822-2385

DOI: https://doi.org/10.21541/apjess.1060763

Sayı

Yazarlar:

Namig ALİYEV | Mehmet Turan GÜZEL | Oğuzhan SEZER

Yayıncı:

Akademik Perspektif Derneği

Ana Başlıklar:

Özel bilgisayar yöntemleri

Dergi:

Academic Platform Journal of Engineering and Smart Systems 2022 Vol.10 Issue 1, pp.48-56

Belge Tipi:

Makale

Yayın Tarihi:

12/2021

Belge Dili:

İngilizce

Document ID (Org No.):

2000874380

Sıklık:

Aylık

eISSN:

2822-2385

DOI:

https://doi.org/10.21541/apjess.1060763