The Implementation of Steering Angle Estimation on Miniature Raspberry Pi-based Autonomous Car

This paper proposes the use of steering angle estimation to achieve a Raspberry Pi-based autonomous car drive. The OpenCV library is used to process the captured images, and the Hough transform is employed to detect the lane lines. Simply comparing reference lines, which are determined only once, and a single detected line can be used to estimate steering angle. This estimated steering angle is used to instruct the servo motor to steer the Rasberry Pi-based autonomous car ahead. The experimental results show that the proposed method can compel the car to maintain a good angle and keep it going forward within the lane.