Autonomous Vehicle based on Lane Detection through Computer Vision using Raspberry Pi

This paper presents a model for the detection of single road lane using a small camera. The model is working on the principle of camera vision. Camera captures the live video which is then processed by a computer. Raspberry Pi 3B+ is used in this model as a single board Computer. A basic prototype for self-driving vehicle is proposed which can be used for transportation, delivery services and many other daily life applications. The parameters of the road and position of the vehicle on the road is determined by pixel summation technique. Vehicle intends to center itself on the road through pixel summation. OpenCV library is used in Python to calculate the pixel values of the captured video. The addition of ultrasonic sensor with lane detection model is the novelty of this paper. The The findings obtained from experiments are tabled to show the planning meets the desired accuracy, with 86% accuracy for lane detection and 90% for obstacle detection. This model of self-driving vehicle can also improve the mobility of those individuals unable to use conventional vehicles.