This code is for the lane follower, including perception and control, as shown below.

1. Hardware
   • Industrial Camera
   • Intel-NUC(10FNK)
2. Software
   • Ubuntu18.04
   • Python3.6
   • OpenCV4.2
   • PyTorch1.8.1

   See environment.txt for details.

The code supports the offline testing, which takes the offline video as input and output the demo video.

python offline_test.py

The code also supports the online testing, which takes the real-time video streaming from the industrial camera as input and controls the vehicle.

python online_test.py

You can find the offline testing video and the corresponding demo video here [n25o].

• offline_test.py --- Offline testing

• online_test.py --- Online testing

• basic_function --- Some Basic Function

  • show_img(name, img): Show the image
  • find_files(directory, pattern): Method to find target files in one directory, including subdirectory
  • get_M_Minv(): Get Perspective Transform
  • draw_area(img_origin, img_line, Minv, left_fit, right_fit): Draw the road area in the image
  • draw_demo(img_result, img_bin, img_canny, img_line, img_line_warp, img_bev_result, curvature, distance_from_center, steer): Generate the Demo image

• lib_camera --- Class for the industrial camera

  • open(): Open the camera
  • grab(): Grab an image from the camera
  • close(): Close the camera

• mvsdk --- Official lib for the industrial camera

• lib_can --- Class for the CAN

  • OpenDevice(): Open the CAN device
  • InitCAN(can_idx=0): Init the CAN
  • StartCan(can_idx=0): Start the CAN
  • Send(can_idx, id, frame_len, data): Send messages to CAN
  • Listen(can_idx, id, try_cnt=10): Receive messages from CAN
  • CloseDevice(): Close the CAN device

• lib_LaneDetector --- Class for the lane detector

  • detect_line(img_input, steer, memory, debug=False): Main Function
  • pre_process(img, debug=False): Image Preprocessing
  • find_line(img, memory, debug=False): Detect the lane using Sliding Windows Methods
  • calculate_curv_and_pos(img_line, left_fit, right_fit): Calculate the curvature & distance from the center

• lib_ObjectDetector --- Class for the traffic object detector based on YOLO5

  • load_model(): Load Yolo5 model from pytorch hub
  • detect(frame, img_area): Predict and analyze using yolo5
  • class_to_label(idx): Return the corresponding string label for a given label value
  • plot_detections(results, frame): Takes a frame and its results as input, and plots the bounding boxes and label on to the frame

• lib_vehicle --- Class for the vehicle model and vehicle control

  • steer_cal(curvature, dist_from_center): Calculate the steer according to the curvature of the lane and the distance form the center
  • steer_ctrl(): Control the steer by sending the signal via CAN
  • steer_get(): Get the real steer of the vehicle via the CAN

• libcontrolcan.so --- DLL for the CAN device

• libMVSDK.so --- DLL for the industrial camera