Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Autonomous Driving Implementation in an Experimental Environment

Version 1 : Received: 23 May 2021 / Approved: 24 May 2021 / Online: 24 May 2021 (13:03:33 CEST)

How to cite: Aliyev, N.; Guzel, M.T.; Sezer, O. Autonomous Driving Implementation in an Experimental Environment. Preprints 2021, 2021050568 (doi: 10.20944/preprints202105.0568.v1). Aliyev, N.; Guzel, M.T.; Sezer, O. Autonomous Driving Implementation in an Experimental Environment. Preprints 2021, 2021050568 (doi: 10.20944/preprints202105.0568.v1).

Abstract

Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane tracking. In this study, an autonomous driving system is developed and tested in the experimental environment designed for this purpose. In this system, a model vehicle having a camera is used to trace the lanes and avoid obstacles to experimentally study autonomous driving behavior. Convolutional Neural Network models were trained for Lane tracking. For the vehicle to avoid obstacles, corner detection, optical flow, focus of expansion, time to collision, balance calculation, and decision mechanism were created, respectively.

Supplementary and Associated Material

Subject Areas

Convolutional Neural Network; Lane tracking; Optical Flow; Focus of Expansion; Time to Collision

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