/Vision-Lane-Keeping

Vision based Lane Keeping Module

Primary LanguagePython

Vision-based Lane Keeping Module

Requirement

  • Python 3.X
  • ROS
  • Vision Sensor (from SVL or Real Camera)
  • Actuator (from SVL or Real Car)

Installation

pip install opencv-python

Usage with SVL Simulator

  1. Download the SVL Simulator and execute simulator.

  2. Click Open Browser, which will automatically show wise.svlsimulator.com website. Sign up and sign in with your account.

svl_main svl_sign_in
  1. Navigate to the Clusters tab and make your cluster.
cluster
  1. Navigate to the Vehicles tab and click Lexus2016RXHybrid. Click buttons next to Sensor Configurations. Clone Autoware AI configuration to make new sensor configuration. Make sure bridge is set to ROS.
cluster cluster cluster cluster
  1. Change configuration of Main Camera as below and save.
cluster
  1. Navigate to the Simulations tab and click Add New button. Fill the blank as below.
    • Simulation Name: As your wish
    • Cluster: a cluster you made in 3
    • Runtime Template: Random Traffic
    • Map: CubeTown
    • Vehicle: Lexus2016RXHybrid (with configuration you made in 4)
    • Autopilot: Autoware.AI v1.14
cluster cluster

  1. Run rosbridge node

    roslaunch rosbridge_server rosbridge_websocket.launch

  2. Click Run Simulation and click play icon on simulator. If the count of topic increases in bridge tab (plug icon), SVL connected with bridge successfully.

cluster cluster

  1. Copy config/config-svl.yaml to config/config.

  2. Run LKAS node.

    python lkas.py
python vehicle_cmd_publisher.py

Demo

lkas_success