Camera_LaneDetectio​n.zip

Simulated camera for Lane detection in an autonomous vehicle

Let us now imagine that we want to follow an object while driving, which can be, e.g., a white dashed-line on the street or a car at the front. If we were able to detect this landmark, we could use the bearing angle to such object as error information in order to control the steering angle. Simulated vision in this case uses as landmarks the curbs of the streets and based on this data we can compute a trajectory to follow.
The simulation block is filled with data points of the map: the left and right curbs as well as the waypoints; additionally we use information of the current estimated position of the vehicle and the camera block provides as the output the data set of points that a camera would see as curbs at the front of the vehicle inside a region of certain radius and angle of vision. After this the block provides automatically the trajectory to follow as the center point of the detected trajectory.