Modeling and Simulation of a Vision-Based Autonomous Vehicle | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 12, Volume 17, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 17 – April 11 - 13, 2017, April 2017, Page 1-23 PDF (1.15 MB) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/asat.2017.22373 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| A. Desoky1; A. Bayoumy2; G. Hassaan3 | ||||
| 1MSc Student, Faculty of Engineering, Cairo university, Giza, Egypt. | ||||
| 2Assistant Professor, MSA University, Giza, Egypt. | ||||
| 3Emeritus Professor, Faculty of Engineering, Cairo university, Giza, Egypt. | ||||
| Abstract | ||||
| This paper presents a comprehensive mathematical simulation for the trajectory of a vision-based autonomous vehicle during moving between lane lines of the structured road. The simulation accomplished by using MATLAB/Simulink software. This simulation mimics the existence of an actual digital camera by using a novel 3D-vision block to simulate the actual images that assumed to be provided by a digital camera connected to an embedded computer. The 3D-vision block uses mathematical equations, execution sequence and logical conditions to create a virtual captured image. So, this virtual image is then used to detect the lane in the front of the vehicle depending on the virtual camera position and its parameters. Inside simulation environment that based on the kinematic model of the vehicle and vision model, the controller has been designed that will be coded in the embedded computer. Several evaluations are shown and discussed about the lane detection and 3D vision simulation. | ||||
| Keywords | ||||
| vision-based; lane detection; autonomous vehicle; vision modeling and simulation | ||||
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