The GHOST CAR - An Autonomous Car Project

Academic Final Year Engineering Project

• The Aim of this project was to develop a Autonomous Car Prototype, which had automatic steering control, traffic sign recognition, traffic light detection and other object detection features.
• The Project runs on a Model Car which uses a Raspberry Pi 4B+, assisted by 1-3 external computing hardware based on the GPU memory capacity. The Model Car collects input from a camera module, an ultrasonic sensor, sends data to a external computer over IP. The computer processes the input data for movement controls, object detection (traffic sign and traffic light) and collision avoidance.
• All these features are achieved using latest technologies such as, Machine Learning Algorithms, Artificial Neural Networks, Sensor Fusion and Computer Vision.
• For DataSet and Training Procedures used to train traffic sign model refer to my other repository -
          ML-Traffic-Sign-Classification
• For DataSet and Training Procedures used to train driver model refer to my other repository -
• For DataSet - GhostCar-TrainingData
• For Training - GhostCar-Training

THE GHOST CAR - PROTOTYPE

PROTOTYPE MODEL -

IMAGES

MODEL TRACK

MODEL CAR

VIDEOS

About the Project Files Structure

~/Driving Prediction/

  The following Programs are run on an external system with good GPU computation capacity.

    angle.txt: File buffer for TCP data transfer.

    modelall.h5: Trained model file to control the Steering for the Prototype Car.

    modelleft.h5: Trained model file to control the Steering for the Prototype Car - only left turns.

    modelright.h5: Trained model file to control the Steering for the Prototype Car - only right turns.

    run.bat: Batch File to manage multiple windows.

    uploadTCP.py: Establishes TCP connection to the prototype car.

    videoPredict.py: Program that predicts steering angle using trained Convolution Neural Networks.

    videoPredict.py: Program that predicts steering angle using trained Convolution Neural Networks.

• For DataSet used to train the following model refer to my other repository - GhostCar-TrainingData

• For Training Procedures and Techniques refer to my other repository - GhostCar-Training

~/Lane Detection/

    lanesImage.py: Detects Lanes on Road - for Image Input.

    lanesTuner.py: Helps in tuning lanesImage.py

    lanesVideo.py: Detects Lanes on Road - for Video Input.

    test_images.jpg: Samples Images to test lanesImage.py

    test_video.mp4: Samples Videos to test lanesVideo.py

~/Object Detection/

    coco.names: COCO is a large-scale object detection, segmentation, and captioning dataset.
        to know more you can visit Click Me .

    OD.py: Object Detection Program - for Video Input.

    ODimage.py: Object Detection Program - for Image Input.

    test.mp4: Sample Video for Testing Object Detection.

    yolov3(380).cfg: Yolov3 config files.

    yolov3(608).cfg: Yolov3 config files - Standard.

    yolov3-tiny.cfg: Yolov3 tiny config files - Light weight.

    yolov3.weights: Yolov3 tiny neural networks weights files - Standard.

    yolov3-tiny.weights: Yolov3 tiny neural networks weights files - Light weight.

• Yolov3 Config and Weight files obtained from YoloV3 by Joseph Chet Redmon

~/RPi Programs/

  The following programs are run on the Raspberri Pi mounted on the Car Prototype.

    GhostCarDrive.py: Program that controls the Prototype Car's components for the autonomous driving.

    IPStreaming.py: Program that streams car's camera input to external computer over IP.

    SampleControlServoMotor.py: Sample program to test Servo Motors manually.

    SampleTestMotor.py: Sample program to test DC motor through L298N driver.

~/Sample TCP Connection/

    client.py: Sample TCP Client Program - Runs on RPi to establish connection with External GPU.

    server.py: Sample TCP Server Program - Runs on laptop to send back data to RPi.

~/Simulation Testing Driver/

    drive relay.py: Program that connects with UDACITY Autonomous Driving Simulator.

    drive.py: Program to test trained models on the simulator.

    model speed.h5: Trained Model to control the Car's Speed.

    model steering.h5: Trained Model to control the Car's Steering.

    model throttle.h5: Trained Model to control the Car's Throttle.

~/Trafic Light Detection/

    TrafficLight.py: Program that recognises Traffic Lights.

    Sample_Video.mp4: Sample video to test Traffic light Recognition.

    Sample_Output.mp4: Sample video output for the Traffic light Recognition.

~/Traffic Sign Detection/

    Traffic Signs Detection.py: Program to Predcit Traffic signs - for Video Input.

    trafficmodel.h5: CNN model for traffic sign prediction.

• For DataSet and Training Procedures used to train the following model refer to my other repository -
          ML-Traffic-Sign-Classification

~/Udacity Simulator/

    Udacity Simulator - Windows64 - Installer.zip: Windows Installer for Open Source Simulation Software
        developed by UDACITY using Unity Engine for Autonomous Car Simulation.
        For the Actual Project Refer the following link. https://github.com/udacity/self-driving-car-sim

~/Video Recording/

    videoCapture.py: Program to record video from a camera or mp4 or mjpeg stream.

    videoFlipper.py: Program that flip the video horizontally or vertically to alter different positions of camera.

    videoFramer.py: Program that saves each frame in a Separate folder for a Video Input also with a config file
        with all the frame files names, usually used for dataset generation.

Setting up the environment

On Raspberry Pi

The hardware used in this project on the prototype was a Raspberry Pi 4 B+ 4GB RAM Model.

1. Install Python 3.6.0+
2. Copy the 'RPi Programs' folder onto the Raspberri Pi directory.
3. Run the following commmand on your terminal pip3 install -r Requirements.txt

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On External System

The external hardware used in this project consists of two laptops. Each running Steering Control and Object Detection Respectively

1. Install Python 3.6.0+
2. Copy all the project file system.
3. Run the following commmand on your terminal pip install -r Requirements.txt

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How to drive

1. Testing: Run the Sample programs under each sub-folder to test the functioning for all the features.

2. Training (optional): Run the training programs along with relevant dataset to customize the neural network models as per requirements

3. Actuation: Test all the hardware components and use the Pin Configuration table to connect all the components on the model prototype.

4. Camera Input over IP Stream: Run python3 IPStreaming.py on RPi4 and check for output on web browser at www.[YourRPiIP]:[PortNumber]/index.html NOTE:"Make sure to use a dedicated RaspberriPi Camera Module"

5. Steering Control Prediction: Run python videoPredict.py on External System to start steering control prediction using CNN.

6. Establish TCP Communication: Create a TCP Server connection to send back valuable data to the prototype model. Run python uploadTCP.py to start a server to send data upon request from the RPi.

7. Self-driving of prototype: Run python3 GhostCarDrive.py on RPi4, wait for the program to perform GPIO pin setup and establish a connection with the TCP server. Once the above actions are performed the car with start self-driving.
     NOTE: To terminate the Program - Press Ctrl + C only once!, pressing multiple times with forcefully terminate the program causing GPIO pins to misbehave due improper program termination.