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extremely boring car - autonomous racing car project

License: MIT License

C++ 93.15% Makefile 5.89% C 0.76% Shell 0.20%
arduino autonomous autonomous-car boring camera opencv raspberry-pi ultrasonic-sensor

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ebc's Issues

bug in window search

Description:
If a line is outside the field of view, a search thread goes along the wrong line. Example below

input image_screenshot_15 11 2020

m_center calculation

m_center calculation is not right if the search window is out of the image.

bug in this code block:

ebc/pi_main/line_calculation.cpp

Lines 19 to 41 in 74481b8

void WindowBox::find_lane(cv::Mat &line_binary) {
//std::cout << get_window_rect(line_binary) << std::endl;
cv::Mat window_roi = line_binary(get_window_rect(line_binary));
cv::Moments w_moments = cv::moments(window_roi);
if (isnan(w_moments.m10/w_moments.m00)) {
m_lane_found = false;
return;
}
//std::cout << w_moments.m10 / w_moments.m00 + m_center.x - m_width / 2 << std::endl;
m_center.x = (int)(w_moments.m10 / w_moments.m00 + m_center.x - m_width / 2);
m_lane_found = true;
}
cv::Rect WindowBox::get_window_rect(cv::Mat &img) const {
cv::Rect rect(m_center.x - m_width/2, m_center.y - m_height/2, m_width, m_height);
if(rect.x < 0) rect.x = 0;
else if(rect.x > img.cols) rect.x = img.cols;
if(rect.x + rect.width > img.cols) rect.width = img.cols - rect.x;
return rect;
}

especially here:

ebc/pi_main/line_calculation.cpp

Line 30 in 74481b8

m_center.x = (int)(w_moments.m10 / w_moments.m00 + m_center.x - m_width / 2);

End unsuccessful search early

Function find_lane_windows should be aborted if no line is found in the last (1 or 2) windows

ebc/pi_main/line_calculation.cpp

Lines 75 to 85 in fe54a43

void find_lane_windows(cv::Mat& binary_img, WindowBox &window_box, std::vector<WindowBox>& wboxes)
{
do {
window_box.find_lane(binary_img);
wboxes.push_back(window_box);
window_box = window_box.next_box();
//std::cout << "next start: " << window_box.center() << std::endl;
} while (window_box.center().y > 0);
return;
}

Motor Arduino: emergency stop

Stop motor in these cases:

  1. obstacle in front of the car; detect with ultrasonic sensors
  2. i2c data stream ends abruptly

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