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Table of Contents
Declaration i
Approval ii
Abstract iii
Dedication iv
Acknowledgment v
Table of Contents vi
List of Figures viii
Nomenclature ix
1 Introduction 1
1.1 Thoughts behind the autonomous car . . . . . . . . . . . . . . . . . . 1
1.2 History of autonomous car . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 Problem statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Research objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Related Work 4
3 System Overview and Data 7
3.1 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Data source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.3 Sample Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.4 Primary data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.5 Secondary data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.6 Data acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4 Sensor Based Approach 12
4.1 2D imaging and distance measuring of nearby vehicles . . . . . . . . 12
4.2 Oine mapping for vehicle navigation . . . . . . . . . . . . . . . . . 13
5 Algorithm Based Approach 16
5.1 Edge detection and vehicle detection . . . . . . . . . . . . . . . . . . 16
5.2 Road sign detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.3 Road lanes detection using Keras model . . . . . . . . . . . . . . . . 19
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