Robocar

A self-driving car built with raspberry pi and C++ 17.

Videos

Below are some other videos of the Robocar in action

• Autonomously driving in a complex track
• On a running track
• Handling a stop sign
• Handling semaphore

Hardware

Vehicle

The following table contains the basic components necessary for the car.

Item	Approx. Price	Link
Raspberry Pi	$100	amazon
Car chassi	$25	amazon
Actuator	$7	amazon
Wires	$5	amazon
Camera	$8	amazon
USB Power Supply	$12	amazon
Power bank	$35	amazon

Others

Item	Approx. Price	Link
Additional wires	$10	amazon
Soldering Iron	$15	amazon
Traffic Signs	$12	amazon
Tape (for making lanes)	$10	amazon

Software

Installation

Dependencies

1) cmake 3.1+

sudo apt install gcc g++

2) gcc 7.4+

sudo apt install gcc

3) googletest (optional - only for running tests)

$ wget https://github.com/google/googletest/archive/release-1.10.0.tar.gz && \
    tar zxf release-1.10.0.tar.gz && \
    rm -f release-1.10.0.tar.gz && \
    cd googletest-release-1.10.0 && \
    cmake . && \
    make -j && \
    sudo make install

4) OpenCV

# First install dependencies
$ sudo apt-get -y install build-essential cmake pkg-config \
    libjpeg-dev libtiff-dev libjasper-dev libpng12-dev \
    libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
    libxvidcore-dev libx264-dev \
    libatlas-base-dev gfortran

# Build opencv from source
$ wget -O opencv.tar.gz https://github.com/opencv/opencv/archive/4.1.2.tar.gz && \
    wget -O opencv_contrib.tar.gz https://github.com/opencv/opencv_contrib/archive/4.1.2.tar.gz && \
    tar zxf opencv.tar.gz && \
    tar zxf opencv_contrib.tar.gz && \
    mv opencv-4.1.2/ opencv && \
    mv opencv_contrib-4.1.2/ opencv_contrib && \
    cd opencv && \
    mkdir build && \
    cd build && \
    cmake -D CMAKE_BUILD_TYPE=RELEASE \
        -D CMAKE_INSTALL_PREFIX=/usr/local \
        -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
        -D ENABLE_NEON=ON \
        -D ENABLE_VFPV3=ON \
        -D BUILD_TESTS=OFF \
        -D OPENCV_ENABLE_NONFREE=ON \
        -D INSTALL_PYTHON_EXAMPLES=OFF \
        -D BUILD_EXAMPLES=OFF .. && \
    make -j4 && \
    sudo make install && \
    sudo ldconfig && \
    sudo apt-get update

# Clean up downloads
$ cd ~/
$ rm opencv.tar.gz && rm opencv_contrib.tar.gz
$ rm -r opencv && rm -r opencv_contrib

# Reboot
$ sudo reboot

5) Tensforflow Lite

Before running the following, make sure you are at the root of this project.

# Make sure you are at robocar root before running this.
$ sudo apt-get -y install build-essential && \
    cd third_party && \
    git clone https://github.com/tensorflow/tensorflow && \
    cd tensorflow && \
    ./tensorflow/lite/tools/make/download_dependencies.sh && \
    ./tensorflow/lite/tools/make/build_rpi_lib.sh

Note: Tensorflow folder is in .gitignore to avoid having it checked-in nto this repo. In the future we might consider having it as submodule.

Build

$ cmake .
$ make

Run tests (optional)

$ cmake . -DBUILD_TESTS=ON
$ make
$ make test

Run

The binary will be in the bin/ directory:

$ sudo bin/robocar