https://github.com/adamczykpiotr/semiautonomouslanekeepingsystem

Semi-autonomous system for lane keeping based on C++ & OpenCV 4.x
https://github.com/adamczykpiotr/semiautonomouslanekeepingsystem

cpp17 lane-departure-warning lane-detection lane-detector lane-finding lane-lines-detection linux opencv opencv4 road-lane-detection road-lines road-safety

Last synced: 5 months ago
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Semi-autonomous system for lane keeping based on C++ & OpenCV 4.x

• Host: GitHub
• URL: https://github.com/adamczykpiotr/semiautonomouslanekeepingsystem
• Owner: adamczykpiotr
• License: mit
• Created: 2020-03-18T09:05:56.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2020-11-07T10:58:58.000Z (almost 5 years ago)
• Last Synced: 2025-04-01T20:25:08.873Z (6 months ago)
• Topics: cpp17, lane-departure-warning, lane-detection, lane-detector, lane-finding, lane-lines-detection, linux, opencv, opencv4, road-lane-detection, road-lines, road-safety
• Language: C++
• Size: 10.2 MB
• Stars: 13
• Watchers: 2
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Semi-autonomous lane keeping system

Semi-autonomous lane keeping system based on C++ & OpenCV 4.x.\

Project for my engineering thesis at AGH University of Science and Technology [WIMiIP].\

\

![](https://github.com/adamczykpiotr/SemiAutonomousLaneKeepingSystem/blob/master/preview.gif)

## Building

Linux:   `./build.sh`\

Windows: Using Visual Studio 2019

## Depencencies

Linux: `./build.sh install`\

Windows: Download OpenCV in version 4.1.1 and extract it to `C:\opencv` then copy all files from `C:\opencv\build\x64\vc15\bin` to `VisualStudio\x64\Debug` and `Release` directories

##  Progress history

| Task & Commit | Date |

| ---------- | ----------- |

| [Finished readme](https://github.com/adamczykpiotr/SemiAutonomousLaneKeepingSystem/commit/bf5befb4afbd0a68cf6ef7d568b5c7bef2e1be17) | 2020-03-18 |

| [Build tools](https://github.com/adamczykpiotr/SemiAutonomousLaneKeepingSystem/commit/5bde61885038f58fb816b5f0e4133f4470bd098c) | 2020-03-20 |

| [Lane detection](https://github.com/adamczykpiotr/SemiAutonomousLaneKeepingSystem/commit/b1bad0931d3f59c01665718d5ac228b2ae21bc87) | 2020-03-20 |

| [Hysteresis](https://github.com/adamczykpiotr/SemiAutonomousLaneKeepingSystem/commit/75b0f7863e084e0d97062172fc21871f5c212eaa) | 2020-03-21 |

## To do

- [ ] Software

    - [x] Build tools

    - [x] Road lane recognition

        - [ ] Turn prediction

        - [x] Hysteresis

        - [ ] Optimization

            - [ ] Multi-threading

            - [ ] ARM NEON optimizations

        - [ ] PID controller for steering angle calculation

- [ ] Hardware

    - [ ] Opel EPS-4400 reverse engineering

        - [x] Gather all necessary datasheets

        - [ ] Board schematics based on PCB

        - [ ] Inject own steering signals

        - [ ] Prevent triggering DTCs (Diagnostic Trouble Codes)

    - [ ] Raspberry Pi 4 <-> Power steering

        - [ ] Communication

- [ ] Safety measures

    - [ ] Software

    - [ ] Hardware

## References 

**General concept**\

https://medium.com/@mrhwick/simple-lane-detection-with-opencv-bfeb6ae54ec0 \

https://medium.com/pharos-production/road-lane-recognition-with-opencv-and-ios-a892a3ab635c

**Use of Gaussian blur & simple turn prediction**\

https://github.com/MichiMaestre/Lane-Detection-for-Autonomous-Cars

**PID Controller**\

https://en.wikipedia.org/wiki/PID_controller \

https://www.youtube.com/watch?v=4Y7zG48uHRo