Building UIUC's 1st Self-driving Car from Scratch

Object Detection & Tracking & Position Estimation

Overview

• Adapt YOLOv3 algorithm to detect vehicle, pedestrian, stop sign, and traffic light

• As a quick and efficient implementation, I use Triangle Similarity to estimate vehicle and pedestrian distances (y positions)

• Use meter-to-pixel ratio to estimate x positions

• Use SORT, an online Kalman Filter based algorithm, for tracking

Public Road Test Demo Video

• label format: <class label>-<tracking ID> [x, y]

• x coordinates: negative means to the left of ego-vehicle; positive means to the right of ego-vehicle

• y coordinates: the depth from ego-vehicle

Automatic Braking: Detection & Tracking & Control

Pedestrian Detection and Tracking

• Adapt YOLOv3 algorithm to detect the pedestrian

• Use SORT, an online Kalman Filter based algorithm, for tracking

Controller

• Simple PID controller as a quick start

Indoor Arena Demo Video

Cruise Control: Lane Detection & Controller

Lane Detection

• Our first implementation utilizes Perspective Transformation, Color Masks, Sobel Filter,  Edge Detection, and Morphological Closure

• Switch to LaneNet for better performances

Controller

• Simple PID controller as a quick start

Indoor Arena Demo Video

System Overview