Difference between revisions of "F14: Team4-Self Driving Car - AUG"
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|Place all the sensors on car and test for obstacle avoidance | |Place all the sensors on car and test for obstacle avoidance | ||
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|Make arrangement for CAN subscription task | |Make arrangement for CAN subscription task | ||
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|Interface encoder and calculate the actual speed at which car is running | |Interface encoder and calculate the actual speed at which car is running | ||
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|Raw GUI for app and setup CAN tasks for Start and Stop commands | |Raw GUI for app and setup CAN tasks for Start and Stop commands | ||
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|10/25/2014 | |10/25/2014 | ||
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|Integration with GEO module and queue for each subscribed service | |Integration with GEO module and queue for each subscribed service | ||
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|TBD | |TBD | ||
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|Deciding System Flow | |Deciding System Flow | ||
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|Deciding MSG id's for all devices | |Deciding MSG id's for all devices | ||
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|Reading sensor data from boards at the subscription rate | |Reading sensor data from boards at the subscription rate | ||
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Revision as of 21:41, 28 October 2014
Contents
- 1 Self Driving Car
- 2 Abstract
- 3 Objective and Scope
- 4 Team Members & Responsibilities
- 5 Introduction
- 6 Schedule
- 7 Parts List & Cost
- 8 Backup Parts & cost
- 9 Design & Implementation
- 10 Testing & Technical Challenges
- 11 Challenges and Learning
- 12 Future Enhancement
- 13 Conclusion
- 14 Project Video
- 15 Project Source Code
- 16 References
Self Driving Car
Abstract
Objective and Scope
Team Members & Responsibilities
- Sensor Controller:
- Chinmay Vaidya
- Manuj Shinkar
- Motor Controller:
- Viral Agrawal
- Mitesh Sanghvi
- I/O Unit:
- Tej Kogekar
- Mayur Salve
- Communication Bridge + Android:
- Jayanth Nallapothula
- Manish Mandalik
- Kwun Fung Ng (Daniel)
- Geographical Controller:
- Ishan Bhavsar
- Tanuj Chirimar
- Sushant Potdar
- Master Controller:
- Dhaval Parikh
- Harita Dhiren Parekh
- Rutwik Kulkarni
Introduction
Schedule
Sensor Team Schedule
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 09/14/2014 | 09/20/2014 | Understanding the logic of sensors to be used | Completed | 09/20/2014 |
2 | 09/21/2014 | 10/04/2014 | Writing the codes for the different types of sensors | Completed | 10/04/2014 |
3 | 10/05/2014 | 10/11/2014 | Testing the different sensors for accuracy and placing the order for the one we have selected. | Completed | 10/11/2014 |
4 | 10/12/2014 | 10/25/2014 | Build CAN transceiver and send data to the Master Board | Completed | 10/25/2014 |
5 | 10/26/2014 | 11/01/2014 | Place all the sensors on car and test for obstacle avoidance | Completed | 10/28/2014 |
6 | 11/02/2014 | 11/14/2014 | Work on light and tilt sensors | Scheduled | YTD |
7 | 11/15/2014 | 12/09/2014 | Final testing and debugging | Scheduled | YTD |
Motor Team Schedule
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 09/14/2014 | 09/20/2014 | Understand the logic of Motor Controller present in the RC Car | Completed | 09/20/2014 |
2 | 09/21/2014 | 09/27/2014 | Replace on-board controller with SJSU One board | Completed | 09/22/2014 |
3 | 09/28/2014 | 10/04/2014 | Drive the DC motor with SJSU One board at different Duty Cycles | Completed | 09/30/2014 |
4 | 10/05/2014 | 10/11/2014 | Test the Servo and DC motor together for moving forward and taking turns | Completed | 10/09/2014 |
5 | 10/12/2014 | 10/18/2014 | Build CAN Transceiver and move the car as per the CAN message received | Completed | 10/13/2014 |
6 | 10/19/2014 | 10/25/2014 | Make arrangement for CAN subscription task | Completed | 10/25/2014 |
7 | 10/26/2014 | 11/01/2014 | Interface encoder and calculate the actual speed at which car is running | Completed | 10/28/2014 |
8 | 11/02/2014 | 11/08/2014 | Make compensation algorithm and make car to move at desired speed | Scheduled | YTD |
9 | 11/09/2014 | 12/09/2014 | Final testing and debugging | Scheduled | YTD |
I/O Team Schedule
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 09/14/2014 | 09/20/2014 | Search and order GLCD module with touch screen, LEDs for headlights | Completed | 09/20/2014 |
2 | 09/21/2014 | 10/04/2014 | Study of GLCD data frame formats and design GUI | Completed | 10/03/2014 |
3 | 10/05/2014 | 10/11/2014 | Development of GLCD functions including touchscreen handler | Completed | 10/11/2014 |
4 | 10/12/2014 | 10/25/2014 | Setup CAN subscription tasks for communication with Master controller | In Progress | 10/22/2014 |
5 | 10/26/2014 | 11/01/2014 | Develop hardware and code for automatic headlight control, battery health indication | Scheduled | YTD |
6 | 11/02/2014 | 11/14/2014 | Build hardware for switches and write interrupt handlers for the same | Scheduled | YTD |
7 | 11/15/2014 | 12/09/2014 | Mount GLCD, headlights, switches on car and final testing | Scheduled | YTD |
Communication Bridge + Android Team Schedule
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 09/14/2014 | 09/20/2014 | Google maps API research | Completed | 09/20/2014 |
2 | 09/21/2014 | 10/04/2014 | Mock locations on Google maps and simulate co-ordinates w/o gps | Completed | 10/04/2014 |
3 | 10/05/2014 | 10/11/2014 | Two way Bluetooth communication and setup RTOS tasks | Completed | 10/11/2014 |
4 | 10/12/2014 | 10/25/2014 | Raw GUI for app and setup CAN tasks for Start and Stop commands | Completed | 10/25/2014 |
5 | 10/26/2014 | 11/01/2014 | Integration with GEO module and queue for each subscribed service | Ongoing | TBD |
6 | 11/02/2014 | 11/09/2014 | Incorporate all essential services into Android app and test for response | Scheduled | TBD |
7 | 11/10/2014 | 11/16/2014 | Final setup and changes for all the CAN tasks along with XBee interfacing | Scheduled | TBD |
8 | 11/17/2014 | 11/23/2014 | Testing with GEO module with real-time co-ordinates and plotting way points onto Maps | Scheduled | TBD |
9 | 11/23/2014 | 12/09/2014 | Final Testing and verification of all components on the main field | Scheduled | TBD |
GEO Team Schedule
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 09/7/2014 | 09/14/2014 | Market research for GPS and Compass Modules | Completed | 09/14/2014 |
2 | 09/14/2014 | 09/21/2014 | Place order / receive the modules | Completed | 09/20/2014 |
3 | 09/21/2014 | 09/28/2014 | Interface GPS with SJ -One board via UART | Completed | 09/26/2014 |
4 | 09/28/2014 | 10/05/2014 | Interface Compass with SJ-One Board via I2C | Completed | 10/03/2014 |
5 | 10/05/2014 | 10/12/2014 | Parsing the GPS data stream | Completed | 10/11/2014 |
6 | 10/12/2014 | 10/19/2014 | Calibration and testing of compass | Completed | 10/13/2014 |
7 | 10/12/2014 | 10/19/2014 | Decide CAN message ID’s and message formats | Completed | 10/28/2014 |
8 | 10/19/2014 | 10/26/2014 | Combining UART and GPS parsing. Create task for GPS | Completed | 10/25/2014 |
9 | 10/19/2014 | 10/26/2014 | Combining compass calibration and i2c interface. Create task for Compass | Completed | 10/25/2014 |
10 | 10/26/2014 | 11/02/2014 | Inter Task Communication (Queues/Shared Objects) | In-Progress | TBD |
11 | 11/03/2014 | 11/10/2014 | Synchronization and Data Integrity (Semaphores/Mutex/Critical Section) | Scheduled | TBD |
12 | 11/11/2014 | 11/25/2014 | Final Integration of CAN Framework and Implementation of CAN communication with other modules | Scheduled | TBD |
13 | 11/26/2014 | 12/09/2014 | Testing and debugging on car (Re-Calibration/Bug Fixes) | Scheduled | TBD |
Master Team Schedule
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 09/7/2014 | 09/13/2014 | Understanding CAN Bus and API's | Completed | 09/13/2014 |
2 | 09/14/2014 | 09/20/2014 | Deciding System Flow | Completed | 09/20/2014 |
3 | 09/21/2014 | 09/27/2014 | Deciding MSG id's for all devices | Completed | 10/27/2014 |
4 | 09/28/2014 | 10/11/2014 | Testing Subscription between 2 devices | Completed | 10/4/2014 |
5 | 09/28/2014 | 10/11/2014 | Making CAN bus hardware to interface all SJOne boards | Completed | 10/11/2014 |
6 | 09/28/2014 | 10/11/2014 | Testing subscription and time sync between all devices | Completed | 10/11/2014 |
7 | 10/12/2014 | 10/18/2014 | Reading sensor data from boards at the subscription rate | Completed | 10/18/2014 |
8 | 10/19/2014 | 11/1/2014 | Algorithm for obstacle avoidance | Completed | 10/27/2014 |
9 | 11/2/2014 | 11/15/2014 | Algorithm for GPS based navigation | Scheduled | TBD |
10 | 11/16/2014 | 11/22/2014 | Initial testing and tweaking of the car | Scheduled | TBD |
11 | 11/23/2014 | 12/9/2014 | Final Testing! Showdown time! | Scheduled | TBD |
Parts List & Cost
Qty | Description | Manufacturer | Part Number | Total Cost |
---|---|---|---|---|
1 | RC Car | - | - | $$$ |
10 | CAN transceivers | - | - | Free |
1 | GPS module | - | - | $$ |
1 | Magnetometer Module | - | - | $ |
1 | Ultrasonic Sensor | - | - | $$ |
1 | Misc Components | - | - | $ |
Total Cost | INCREASING!! |
Backup Parts & cost
Qty | Description | Manufacturer | Part Number | Total Cost |
---|
Design & Implementation
CAN 11-bit ID Format
MSG | DST | SRC |
---|---|---|
5 bits (11-6) | 3 bits (5-3) | 3 bits (2-0) |
Controller ID Table
Controller ID | Controller Type |
---|---|
001 | Motor Controller |
010 | Master Controller |
011 | Sensor Controller |
100 | GEO Controller |
110 | Communication Bridge + Android Controller |
111 | I/O Controller |
Controller Communication Table
Message Number | Purpose | Data layout |
0x040 | Heartbeat | |
0x14A | Motor Speed and Direction |
byte [0] : (uint8_t) Speed byte [1] : (uint8_t) Direction |
0x3E2 | Destination Change, Kill or Crash | |
0x402 | Update Time |
Message Number | Purpose | Data layout |
0x091 | Heartbeat Ack (Response to 0x040) | |
0x379 | Speed Data |
byte [0] : (uint8_t) Speed of Car |
0x371 | Speed Data |
byte [0] : (uint8_t) Speed of Car |
0x451 | Power Up, Boot Status and Version |
byte [0] : (uint8_t) Power Up byte [1] : (uint8_t) Boot Status byte [2] : (uint8_t) Version |
Message Number | Purpose | Data layout |
0x094 | Heartbeat Ack (Response to 0x040) | |
0x454 | Power Up, Boot Status and Version |
byte [0] : (uint8_t) Power Up byte [1] : (uint8_t) Boot Status byte [2] : (uint8_t) Version |
0x1D4 | Compass Heading and Desired Heading |
byte [0] : (uint8_t) Compass Heading byte [1] : (uint8_t) Desired Heading |
0x234 | Request next Checkpoint | |
0x294 | Distance from Destination |
byte [0] : (uint8_t) Distance |
0x2B4 | Distance from Destination |
byte [0] : (string) Distance |
0x2BC | Distance from Destination |
byte [0] : (string) Distance |
0x2F4 | Current Location of GPS |
byte [0-2] : (string) Longitude and Latitude |
Message Number | Purpose | Data layout |
0x096 | Heartbeat Ack (Response to 0x040) | |
0x456 | Power Up, Boot Status and Version |
byte [0] : (uint8_t) Power Up byte [1] : (uint8_t) Boot Status byte [2] : (uint8_t) Version |
0x116 | On/Off Command | |
0x266 | Checkpoints from Android |
byte [0-7] : (string) Longitude, Latitude, Distance between two co-ordinates, Number of Checkpoints. |
Message Number | Purpose | Data layout |
0x093 | Heartbeat Ack (Response to 0x040) | |
0x453 | Power Up, Boot Status and Version |
byte [0] : (uint8_t) Power Up byte [1] : (uint8_t) Boot Status byte [2] : (uint8_t) Version |
0x1B3 | Front/Rear Sensor Data |
byte [0] : (uint8_t) Sensor Data |
0x194 | Front/Rear Sensor Data |
byte [0] : (uint8_t) Sensor Data |
0x1BB | Front/Rear Sensor Data |
byte [0] : (uint8_t) Sensor Data |
0x333 | Data from Sensors like Tilt, Light etc. |
byte [0] : (uint8_t) Sensor Data |
0x33B | Data from Sensors like Tilt, Light etc. |
byte [0] : (uint8_t) Sensor Data |
0x3B1 | Error and Communication Status |
byte [0] : (uint8_t) Error Data |
0x3B9 | Error and Communication Status |
byte [0] : (uint8_t) Error Data |
Message Number | Purpose | Data layout |
0x097 | Heartbeat Ack (Response to 0x040) | |
0x457 | Power Up, Boot Status and Version |
byte [0] : (uint8_t) Power Up byte [1] : (uint8_t) Boot Status byte [2] : (uint8_t) Version |
0x117 | Front/Rear Sensor Data |
byte [0] : (uint8_t) Sensor Data |
0x4D7 | Battery Status and Key Press |
byte [0] : (uint8_t) Battery Status |
Testing & Technical Challenges
Sl. No | Test Case | Test Description | Result |
---|
Challenges and Learning
Future Enhancement
Conclusion
Project Video
Project Source Code
References
Acknowledgement
References Used
- Preetpal Kang, Lecture notes of CMPE 243, Computer Engineering, Charles W. Davidson College of Engineering, San Jose State University, Aug-Dec 2014.
- en.wikipedia.org/