From Embedded Systems Learning Academy
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 sensor parts and finish the necessary wiring and develop test code for a sensor
|
Done
|
10/10/2014
|
| 2
|
10/10/2014
|
10/17/2014
|
Implementation for multiple ultrasonic sensors
|
Done
|
10/14/2014
|
| 3
|
10/17/2014
|
10/24/2014
|
Implementation for infrared distance sensor
|
Scheduled
|
TBD
|
| 4
|
10/24/2014
|
10/31/2014
|
Implementation of Light Sensors and Tilt Sensor
|
Scheduled
|
TBD
|
| 5
|
10/33/2014
|
11/7/2014
|
Implementation of Battery Sensor Status
|
Scheduled
|
TBD
|
| 6
|
11/7/2014
|
11/14/2014
|
TBD
|
TBD
|
TBD
|
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
|
In Progress
|
|
| 3
|
10/7/2014
|
10/17/2014
|
Finalize Task Architecture
|
In Progress
|
|
| 4
|
10/18/2014
|
10/21/2014
|
Interface and test LCD
|
Finished
|
|
| 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
|
|
| 4
|
28-Oct-2014
|
11-Nov-2014
|
Complete Building and fine-tuning of RC car .
|
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/
