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Title: Developing, Analyzing, and Evaluating Vehicular Lane Keeping Algorithms Using Electric Vehicles
Robust lane-following algorithms are one of the main challenges in developing effective automated vehicles. In this work, a team of four undergraduate students designed and evaluated several automated lane-following algorithms using computer vision as part of a Research Experience for Undergraduates program funded by the National Science Foundation. The developed algorithms use the Robot Operating System (ROS) and the OpenCV library in Python to detect lanes and implement the lane-following logic on the road. The algorithms were tested on a real-world test course using a street-legal vehicle with a high-definition camera as input and a drive-by-wire system for output. Driving data were recorded to compare the performance of human driving to that of the self-driving algorithms on the basis of three criteria: lap completion time, lane positioning infractions, and speed limit infractions. The evaluation of the data showed that the human drivers successfully completed every lap with zero infractions at a 100% success rate in varied weather conditions, whereas, our most reliable algorithms had a success rate of at least 70% with some lane positioning infractions and at lower speeds.  more » « less
Award ID(s):
2150292 2150096
PAR ID:
10381870
Author(s) / Creator(s):
; ; ; ; ;
Date Published:
Journal Name:
Vehicles
Volume:
4
Issue:
4
ISSN:
2624-8921
Page Range / eLocation ID:
1012 to 1041
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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