Bilgisayarla Görme Destekli Otonom Araç Prototipinin Tasarımı ve Uygulaması

Year 2022, , 50 - 65, 23.02.2022

Emre Dandıl , Bilal Aral

https://doi.org/10.47495/okufbed.1035737

Abstract

Son yıllarda, otomotiv üreticileri, bilgi teknolojileri sağlayıcıları, ticari elektronik çip üreticileri otonom araçlar (OA) için bir yatırım yarışına girdiklerinden, OA birçok altyapıda kullanılmaya başlamıştır. OA seyir halindeyken, otomatik kontrol sistemlerini kullanarak sürücüye ihtiyaç duymadan yolu, trafik akışını ve çevreyi algılayarak kendi kendine gidebilen otomobillerdir. OA, radar, lidar, GPS, odyometri ve bilgisayarla görme gibi teknolojileri kullanarak etrafındaki nesneleri algılayabilir. Bu çalışmada, bilgisayarla görme tabanlı bir otonom araç prototipinin tasarımı ve uygulaması önerilmektedir. Geliştirilen prototip, kameradan elde edilen görüntüleri işleyerek şerit takibi ve trafik işareti kontrolü gerçekleştirebilmektedir ve mesafe sensörü ile etrafındaki nesneleri algılayabilmektedir. Geliştirilen OA prototipinde görüntüleri işlemek ve motorları kontrol etmek için Raspberry Pi 3B+ modülü ve trafik işaretlerini tanımak için kaskad sınıflandırıcı kullanılmıştır. Yapılan testlerde trafik işaretleri 7 farklı senaryoda tanınmış ve performansları karşılaştırılmıştır. Sonuçlara göre tek trafik işareti ile yapılan testlerde doğruluk oranı %94,8'dir. Sonuç olarak, bu çalışmada geliştirilen otonom araç prototipi, trafik işaretlerini başarıyla tanıyabilmektedir ve farklı senaryolarda belirlenen rotada hareket edebilmektedir.

Keywords

Otonom araçlar, Bilgisayarla görme, Raspberry Pi, Kaskad sınıflandırıcı, Trafik işareti tanıma, Şerit takibi

Design and Implementation of Computer Vision Based Autonomous Vehicle Prototype

Abstract

In recent years, since automotive makers, IT providers, commercial electronic chip manufacturers have entered a rapid investment race for autonomous vehicles (AVs), they have started to be used in many infrastructures. AVs are automobiles that can drive themselves using the automatic control systems while cruising by sensing the road, traffic flow and surroundings without the need for a driver. AVs can detect objects around them using technologies such as radar, lidar, GPS, audiometry and computer vision. In this study, the design and implementation of a computer vision-based autonomous vehicle prototype is proposed. The developed prototype can perform lane tracking and traffic sign control by processing images obtained from the camera, and can detect objects around it with the distance sensor. In the AV prototype, the Raspberry Pi 3B+ module is used to process the images and control the motors, and the cascade classifier is used to recognize the traffic signs. In the performed tests, traffic signs are recognized in 7 different scenarios and the performances are compared. According to the results, the accuracy rate is 94,8% in the tests performed with only one traffic sign. As a result, the autonomous vehicle prototype developed in this study can successfully recognize traffic signs and move on the determined route in different scenarios.

Keywords

Autonomous vehicles, Computer vision, Raspberry Pi, Cascade classifier, Traffic sign recognition, Lane tracking

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