RC to Rπ Car Conversion

A C++ program was developed on a Raspberry Pi 3 Model B in order to control the speed and steering of a radio controlled car so that it would autonomously drive within a lane. Images were captured by a Raspberry Pi Camera Module V2 and processed using OpenCV to detect the lane in front of the car. In each image, the intersection point of the best fit lines through the two lines of the lane was used to determine the target speed and target steering angle of the car. The program generated a pulse width modulation signal which it sent to a DC motor and a servo motor on the car through the GPIO of the Raspberry Pi in order to achieve these target values and guide the car to follow the lane.B.S. (Bachelor of Science