The RALPH self driving Navlab 5

Possible use as a web based teaching example.

• https://docs.opencv.org/4.x/dd/d52/tutorial_js_geometric_transformations.html Fast transformation of the road view, see Perspective Transformation.

  let src = cv.imread('canvasInput');
  let dst = new cv.Mat();
  let dsize = new cv.Size(src.rows, src.cols);
  
  let x_cut_left = Math.round(src.cols*0.01) //distance in from the left where the near road starts
  let x_cut_right = 0//Math.round(src.cols*0.01) //what to cut off the right
  let road_center = 0.74 //percentage of center position of the road
  let x_center = Math.round((src.cols - x_cut_left - x_cut_right)*road_center)
  let x_road_far = Math.round(src.cols * 0.2) //width of the road in the distance
  
  let y_road_far = Math.round(src.rows*.45) //cut off the skyline
  let y_road_near = Math.round(src.rows *0.65) //cut off the car hood and dash
  
  let srcTri = cv.matFromArray(4, 1, cv.CV_32FC2, [ //upperleft, upperright, lowerleft, lowerright
      x_cut_left+x_center-x_road_far, y_road_far, 
      x_center+x_road_far-x_cut_right, y_road_far, 
      x_cut_left, y_road_near, 
      src.cols-x_cut_right, y_road_near
      ]);
  let dstTri = cv.matFromArray(4, 1, cv.CV_32FC2, [0, 0, src.cols, 0, 0, src.rows, src.cols, src.rows]);
  let M = cv.getPerspectiveTransform(srcTri, dstTri);
  // You can try more different parameters
  cv.warpPerspective(src, dst, M, dsize, cv.INTER_LINEAR, cv.BORDER_CONSTANT, new cv.Scalar());
  cv.imshow('canvasOutput', dst);
  src.delete(); dst.delete(); M.delete(); srcTri.delete(); dstTri.delete();
  

• https://app.qoom.io/tutorials/DrivingSimulator/guide.md A driving simulator could be used to provide input and test output.
• https://www.kaggle.com/datasets/roydatascience/training-car Datasets of training data are availale with csv data indicating the degree of turn.

See also:

• https://ojs.aaai.org/aimagazine/index.php/aimagazine/article/view/1221 Life in the Fast Lane: The Evolution of an Adaptive Vehicle Control System+
• https://www.researchgate.net/publication/3281944 Rapidly Adapting Machine Vision for Automated Vehicle Steering+

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