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Driver Assistant

SOFTWARE

► Color Filtering

  • This method has been used in most of the modules.
  • In order to detect some desired color from an image, some kind of a filtering mechanism have been implemented.
  • This way, it would be possible to get a binary image which, only pixels of desired color are shown.
  • This is achieved by converting from RGB colormap to HSV. After that, some thresholds have been applied to HSV values.

► Lane Detector

  • Input image have been cropped %40 from the top and %20 from the bottom.
  • White color mask have been applied to cropped image.
  • After running Hough line detection algorithm, horizontal lines were removed.
  • The vertical ones have been drawn.

► Pedestrian Detector

  • OpenCV's default people detector has been used.

► Speed Estimator

  • Since we have only one camera, estimating the approximate speed of the vehicle is hard.
  • After getting the input image, the regions that we expect to detect lanes have been cropped.
  • Then we calculate the frequency of lanes passing these regions.
  • According to that frequency, we estimate the speed of the vehicle.

► Stopping Distance Calculator

  • Input image have been cropped regarding the front of the vehicle where it is not safe to detect any car in that region.
  • Red color mask have been applied to cropped image, hoping to detect taillights.
  • If we detect taillights, the distance between us and that car is not safe.

► Traffic Sign Detector

  • We are able to detect only blue colored signs, with a very high possibility.
  • Regarding the performance, only blue color mask have been applied to the input image.
  • After getting the result of contour detection, detected regions are considered to be traffic signs.
  • In this link, more robust algorithm has been implemented for detecting only red traffic signs. (If the quality of images are high)

HARDWARE

  • The entire software runs on Raspberry Pi 3 computer.
  • In order to give feedback to the user, a vibration motor has been used as well.
  • When the river drives too fast or the stopping distance is not safe, the motor vibrates.

HOW TO RUN

  • Install OpenCV 3.1 on your Raspberry.
  • Install WiringPi library on your Raspberry.
  • make
  • ./main.exe [RUNNING_MODE]
  • Where [RUNNING_MODE] may get the values of 0, 1 or 2 which denotes the quality of the input video. (2 means high quality)

DEMO

  • Video available here with in-dept explanation of each module in Turkish.