Design and implementation of auto car driving system with collision avoidance

摘要

This paper presents designing and manufacturing the hardware and software of a low-cost robotic system, which can be installed into any petrol car with an automatic gearbox, giving the ability to a car to be driverless. The proposed approach is composed of three systems; first, a computer vision system detects the lane located ahead of the vehicle to provide a reference angle for the steering wheel; second, to make the proper decision, a control and collision avoidance system are implemented, which are responsible for collecting sensors data and perform the right action by applying a closed-loop control system; third, the electro-mechanical system, which physically controls the steering wheel, braking and accelerating of the vehicle by actuators. The proposed system has been tested on-ground in several experiments and returned with acceptable results.