Difference between revisions of "F14: Team5-Self Driving Car - AUG"
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Revision as of 04:49, 22 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 (2 Members) - [Bailey Wu, Rishabh Sareen]
- Motor Controller (2 Members) - [Abraham Ruiz, Sree Harsha, Arpit Amin]
- I/O Unit (2 Members) - [Yoni Klein, Tejeswar]
- Communication Bridge + Android (3 Members) - [Shaw Ken Chang, Arnold Bajet Jr., Thomas Pantels]
- Geographical Controller (3 Members) - [Himanshu Saini, Divya Kamath, Sree Harsha]
- Master Controller (3 Members) - [Akash Ayare, Sree Harsha, Karthik Vadiraja]
Introduction
Schedule
Geographical Controller
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 1-Oct-2014 | 14-Oct-2014 | Order Components and Make a schedule | Completed | 14-Oct-2014 |
2 | 8-Oct-2014 | 14-Oct-2014 | Decide commands that Geographical Controller will support | Completed | 14-Oct-2014 |
3 | 7-Oct-2014 | 14-Oct-2014 | Complete CAN RX task and subscription handling. Verify communication with other controllers | Completed | 21-Oct-2014 |
4 | 14-Oct-2014 | 24-Oct-2014 | Interface GPS module and Compass and develop drivers if needed | GPS - In Progress | |
5 | 24-Oct-2014 | 30-Oct-2014 | Design and develop algorithm to calculate heading and bearing from GPS coordinates | In Progress | |
6 | 24-Oct-2014 | 5-Nov-2014 | Work on calibration of compass | ||
7 | 1-Nov-2014 | 10-Nov-2014 | Test with the central and Bluetooth controller | ||
8 | 10-Nov-2014 | 25-Nov-2014 | Begin testing with fully assembled car |
Sensor Controller
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date | ||||||
---|---|---|---|---|---|---|---|---|---|---|---|
1 | 10/3/2014 | 10/10/2014 | Order ultrasonic sensor parts and develop simple test code for the sensors | Done | 10/10/2014 | ||||||
2 | 10/10/2014 | 10/17/2014 | Wire the ultrasonic sensors, develop and implement the sensors using analog to digital converter | Done | 10/17/2014 | ||||||
3 | 10/17/2014 | 10/24/2014 | Collaborate with the other sub teams to finish the CAN bus communication and allow the self driving car to drive autonomously | 4 | 10/24/2014 | 11/1/2014 | Develop, implement and test the ultrasonic sensors using the pulse width modulation and universal asynchronous receiver/transmitter | Scheduled | |||
5 | 11/2/2014 | 11/9/2014 | Develop, implement and test the front and back infrared sensors using analog to digital converter | Scheduled | |||||||
6 | 11/10/2014 | 11/17/2014 | Develop, implement and test the current/voltage sensor for the battery packs of the self driving car using I2C | Scheduled | |||||||
7 | 11/18/2014 | 11/25/2014 | Develop, implement and test the current/voltage sensor for the battery packs of the self driving car | 8 | 11/26/2014 | 12/5/2014 | Collaborate with the other sub teams to make sure that the sensors are in working condition | ||||
8 | 12/6/2014 | 12/13/2014 | Collaborate with the other sub teams to debug any problems that may encountered |
IO Controller
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 10/7/2014 | 10/14/2014 | Research and order LCD appropriate for this project | Finished | 10/11/2014 |
2 | 10/7/2014 | 10/17/2014 | Implement CAN RX/Subscription task | Finished | 10/13/2014 |
3 | 10/7/2014 | 10/17/2014 | Finalize Task Architecture | In Progress | |
4 | 10/18/2014 | 10/21/2014 | Interface and test LCD | Finished | 10/20/2014 |
5 | 10/21/2014 | 10/28/2014 | Implement special button features | ||
6 | 10/21/2014 | 10/28/2014 | Implement auto scrolling feature | ||
7 | 10/28/2014 | 11/4/2014 | Design LCD UI with buttons |
Communication Bridge + Android
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 16-Sep-2014 | 23-Sep-2014 | Interface and test bluetooth module | Done | 20-Sep-2014 |
2 | 11-Oct-2014 | 12-Oct-2014 | UI Design and User Requirements dococumentation | In Progress | |
3 | 28-Sep-2014 | 14-Oct-2014 | Add Google Maps and Bluetooth component in Android app. | In Progress | |
4 | 7-Oct-2014 | 19-Oct-2014 | Interface bluetooth module with SJSUOne board and implement bluetooth driver | ||
5 | 11-Oct-2014 | 19-Oct-2014 | CAN infrastructure implmentation | ||
6 | 20-Oct-2014 | 1-Nov-2014 | Add car information reading to Android app | ||
7 | 2-Nov-2014 | 4-Nov-2014 | Iterate UI design | ||
8 | 5-Nov-2014 | 16-Nov-2014 | Implement 2nd UI design |
Motor Controller
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 10/7/2014 | 1011/2014 | PWM1 and PWM2 interface with the car servo and motor. Wrote a test code to operate the servo and motor from the terminal command. | Finish | 10/11/2014 |
2 | 10/11/2014 | 10/18/2014 | Design and code CAN receive task for subscription. Check for basic CAN message commands for throttle and steer control. | In Progress | |
3 | 10/18/2014 | 11/01/2014 | Design the CAN message table for motor control. Design acceleration Vs steer control function for smooth run. Check for other factors involved. | Planned | |
3 | 11/02/2014 | 11/09/2014 | Fine tune motor control code and integrate with all the controllers for proper working. | Planned |
Central Controller
Sl. No | Start Date | End Date | Task | Status | Actual Completion Date |
---|---|---|---|---|---|
1 | 16-Sep-2014 | 23-Sep-2014 | Develop API for CAN bus communication. | Done | 23-Sep-2014 |
2 | 11-Oct-2014 | 15-Oct-2014 | Develop communication table for all controllers. | In Progress | |
3 | 15-Oct-2014 | 20-Oct-2014 | Broadcast message and target message setup. | In Progress | |
4 | 21-Oct-2014 | 28-Oct-2014 | Co-ordinate all controllers and take major decisions. | Planned | |
5 | 28-Oct-2014 | 11-Nov-2014 | Complete Building and fine-tuning of RC car. | Planned | |
6 | 21-Oct-2014 | 11-Nov-2014 | Develop coordination mechanism to ensure controllers are initialized and ready | In Progress | |
7 | 21-Oct-2014 | 28-Oct-2014 | Develop kill switch | In Progress | |
8 | 14-Oct-2014 | 21-Oct-2014 | Build external power distribution circuit | Done | 21-Oct-2014 |
9 | 28-Oct-2014 | 04-Nov-2014 | Coordination algorithm between steering and throttle for smooth turns | Planned | |
10 | 04-Nov-2014 | 11-Nov-2014 | Collision avoidance and cliff detection algorithms | Planned | |
11 | 04-Nov-2014 | 11-Nov-2014 | Intermediate unit and functional tests | Planned | |
12 | 21-Oct-2014 | 4-Nov-2014 | Initialize all boards with GPS-time | Planned | |
13 | 11-Nov-2014 | 25-Nov-2014 | Functional tests and algorithm adjustments | Planned | |
14 | 25-Nov-2014 | 02-Dec-2014 | Fine tuning and stretch goals (headlights, parallel parking, etc.) | Planned | |
15 | 02-Dec-2014 | 09-Dec-2014 | Prepare for demo | Planned |
Parts List & Cost
Qty | Description | Manufacturer | Part Number | Total Cost |
---|
Backup Parts & cost
Qty | Description | Manufacturer | Part Number | Total Cost |
---|
Design & Implementation
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/