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Untitled THÀNH PHỐ HỒ CHÍ MINH BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT Tp Hồ Chí Minh, tháng 20 SKL007929 NGÀNH CNKT Ô TÔ 14145069 NG 14145018 TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TP HỒ CHÍ MINH[.]
BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT THÀNH PHỐ HỒ CHÍ MINH ĈӖÈ17Ӕ71*+,ӊ3 NGÀNH CNKT ễ Tễ 1*+,ầ1&8+7+1*48$16ẩ7&+2;( 7521*9,&;ẩ&1+7ẻ1+751**,$27+é1* *9+' 9ẻ1++81 697+ /ầ1*&+ặ1 14145069 NG8 1) = 1; Edge = step(hAutothreshold, I); [H, Theta, Rho] = step(hHough, Edge); % Phat hien dinh H1 = H; % Mo rong ma tran H voi theta < -78 va theta >= 78 H1(:, 1:12) = 0; H1(:, end-12:end) = 0; Idx1 = step(hLocalMaxFind1, H1); Count1 = size(Idx1,1); % Chon Rhos va Thetas tuong ung voi dinh Line = [Rho(Idx1(:, 2)); Theta(Idx1(:, 1))]; Enable = [ones(1,Count1) zeros(1, ExpLaneNum-Count1)]; % Theo doi tap hop cac dau phan cach lan duong [Rep_ref, Count_ref] = videolanematching(Rep_ref, Count_ref, 70 MaxLaneNum, ExpLaneNum, Enable, Line, TrackThreshold, frameFound+frameLost); % Chuyen duong thang tu toa Polar sang Cartesian Pts = step(hHoughLines1, Rep_ref(2,:), Rep_ref(1,:), Imlow); % Lan duong trai va phai [TwoValidLanes, NumNormalDriving, TwoLanes, OutMsg] = videodeparturewarning(Pts, Imlow, MaxLaneNum, Count_ref, NumNormalDriving, OutMsg); % Dien giai: = Right lane departure, % = Normal driving, = Left lane departure % Output Frame = Frame + 1; if Frame >= TwoLanes1 = TwoLanes + [offset; offset]'; if DrawPoly && TwoValidLanes if TwoLanes(4,1) >= 239 Templ = TwoLanes1(3:4, 1); else Templ = [0 239]'; end if TwoLanes(4,2) >= 239 Tempr = TwoLanes1(3:4, 2); else Tempr = [359 239]'; end Pts_poly = [TwoLanes1(:,1); Templ; Tempr; TwoLanes1(3:4,2); TwoLanes1(1:2,2)]; % Ve lan duong RGB = insertShape(RGB,'FilledPolygon',Pts_poly.', 'Color',[1 1],'Opacity',0.0); end % Ve duong line 71 RGB = insertShape(RGB,'Line',TwoLanes1', 'Color',{'yellow','yellow'}); % Chen text canh bao txt = warnText{OutMsg+1}; txtLoc = warnTextLoc(OutMsg+1, :); txtColor = single(warningTextColors{mod(Frame-1,4)+1}); RGB = insertText(RGB,txtLoc,txt,'TextColor', txtColor, 'FontSize',20, 'BoxOpacity', 0); %% truyen tin hieu lech trai lech phai xuong arduino thong qua serial port % lech trai if (OutMsg == 0) writeDigitalPin (a,2,1) writeDigitalPin (a,12,0) writeDigitalPin (a,13,1) writePWMVoltage (a, 3,5) pause (0.1) writeDigitalPin (a,12,0) writeDigitalPin (a,13,0) %writePWMVoltage (a,2,0) pause (0.5) writeDigitalPin (a,12,1) writeDigitalPin (a,13,0) writePWMVoltage (a, 3,5) pause(0.05) writeDigitalPin (a,12,0) writeDigitalPin (a,13,0) writePWMVoltage (a, 3,0) elseif (OutMsg == | OutMsg == 2) writeDigitalPin (a,2,0) end 72 if (OutMsg == 1) writeDigitalPin (a,4,1); writeDigitalPin (a,12,0); writeDigitalPin (a,13,0); %writePWMVoltage (a,2,0); elseif (OutMsg == | OutMsg == 2) writeDigitalPin (a,4,0) end if (OutMsg == 2) %led sang writeDigitalPin (a,8,1) %dieu khien motor writeDigitalPin (a,12,1) writeDigitalPin (a,13,0) writePWMVoltage (a,3,5) pause (0.1) writeDigitalPin (a,12,0) writeDigitalPin (a,13,0) %writePWMVoltage (a,3,0) pause (0.5) writeDigitalPin (a,12,0) writeDigitalPin (a,13,1) writePWMVoltage (a,3,5) pause(0.05) writeDigitalPin (a,12,0) writeDigitalPin (a,13,0) elseif (OutMsg == | OutMsg == 1) %led tat writeDigitalPin (a,8,0) %writePWMVoltage (a,2,0) end end 73 OutMsgPre = OutMsg; step(hVideoOut,RGB); end release(hVideoSrc); % dong giao tiep voi cong com fclose(s); B Xác định dấu phân cách trái / phải function [TwoValidLanes, NumNormalDriving, TwoLanes, OutMsg] = videodeparturewarning(Pts, Imlow, MaxLaneNum, Count_ref, NumNormalDriving, OutMsg) % hObject handle to exit_pushbutton7 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) Dis_inf = size(Imlow, 2); % Width of image Halfwidth = Dis_inf * 0.5; Left_dis = single(intmax('int16')); Left_pts = zeros(4, 1); Right_dis = single(intmax('int16')); Right_pts = zeros(4, 1); Pts = Pts(:, [2 3])'; for i = 1:MaxLaneNum % Pick the column corresponding to the point closer to the top if Pts(1, i) >= Pts(3, i) ColNum = Pts(2, i); else ColNum = Pts(4, i); end if Count_ref(i) >= centerDis = abs(Halfwidth - ColNum); else centerDis = Dis_inf; end 74 if (Halfwidth - ColNum) >= % left lane if centerDis < Left_dis Left_dis = centerDis; Left_pts = Pts(:, i); end else % right lane if centerDis < Right_dis Right_dis = centerDis; Right_pts = Pts(:, i); end end end % Departure detection if Left_dis < Dis_inf TmpLeftPts = Left_pts; else TmpLeftPts = zeros(4, 1); end if Right_dis < Dis_inf TmpRightPts = Right_pts; else TmpRightPts = zeros(4, 1); end TwoLanes = int32([TmpLeftPts TmpRightPts]); % Check whether both lanes are valid Check1 = (TwoLanes(1,:) ~= TwoLanes(3,:)) | (TwoLanes(2,:) ~= TwoLanes(4,:)); Check2 = (abs(TwoLanes(1,:) - TwoLanes(3,:)) + abs(TwoLanes(2,:) - TwoLanes(4,:))) >= 10; TwoValidLanes = (Left_dis = OutMsg = RawMsg; end % else keep old OutMsg if RawMsg ~= int8(1) NumNormalDriving = 0; end TwoLanes = TwoLanes([2 3], :); C Xác định dấu đường function [Rep_ref, Count_ref] = videolanematching(Rep_ref, Count_ref, MaxLaneNum, ExpLaneNum, Enable, Line, TrackThreshold, CountUpperThresh) List = double(intmax('int16')) * ones(MaxLaneNum, ExpLaneNum); 76 for i = 1:MaxLaneNum for j = 1:ExpLaneNum if Count_ref(i) > && Enable(j) == List(i, j) = abs(Line(1, j)' - Rep_ref(1,i)) + abs(Line(2, j)' - Rep_ref(2, i)) * 200; end end end % Find the best matches between the current lines and those in the % repository %Match_dis Match_dis = intmax('int16')*ones(1, MaxLaneNum, 'int16'); = double(intmax('int16'))*ones(1, MaxLaneNum); Match_list = zeros(2, MaxLaneNum); for i = 1:ExpLaneNum if i > % Reset the row and column where the minimum element lies on List(rowInd, :) = double(intmax('int16')) * ones(1, ExpLaneNum); List(:, colInd) = double(intmax('int16')) * ones(MaxLaneNum, 1); end % In the 1st iteration, find minimum element (corresponds to % best matching targets) in the distance matrix Then, use the % updated distance matrix where the minimun elements and their % corresponding rows and columns have been reset [Val, Ind] = min(List(:)); [rowInd colInd] = ind2sub(size(List), Ind); Match_dis(i) = Val; Match_list(:,i) = [rowInd colInd]'; end % Update reference target list % If a line in the repository matches with an input line, replace % it with the input one and increase the count number by one; % otherwise, reduce the count number by one The count number is % then saturated Count_ref = Count_ref - 1; 77 for i = 1:ExpLaneNum if Match_dis(i) > TrackThreshold % Insert in an unused space in the reference target list NewInd = find(Count_ref < 0, 1); Rep_ref(:, NewInd) = Line(:, Match_list(2, i)); Count_ref(NewInd) = Count_ref(NewInd) + 2; else % Update the reference list Rep_ref(:, Match_list(1, i)) = Line(:, Match_list(2, i)); Count_ref(Match_list(1, i)) = Count_ref(Match_list(1, i)) + 2; end end Count_ref(Count_ref < 0) = 0; Count_ref(Count_ref > CountUpperThresh) = CountUpperThresh; D Code Arduino // them thu vien va khai bao cac chan cua cam bien sieu am #include #define TRIGGER_PIN 12 #define ECHO_PIN 13 #define MAX_DISTANCE 300 #define led_distance 11 NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); void setup() { Serial.begin(115200); pinMode (led_distance,OUTPUT); } void loop() { delay(1000); //Serial.print("Ping: "); Serial.println(sonar.ping_cm()); // Serial.println("cm"); if ( sonar.ping_cm () 20) { digitalWrite(led_distance ,LOW); } } 79 S K L 0