Difference between revisions of "F14: Team4-Self Driving Car - AUG"
From Embedded Systems Learning Academy
Proj user16 (talk | contribs) (→Controller Communication Table) |
Proj user16 (talk | contribs) (→Schedule) |
||
Line 418: | Line 418: | ||
|10/26/2014 | |10/26/2014 | ||
|11/02/2014 | |11/02/2014 | ||
− | | | + | |Distance to Destination Calculation and Algorithm |
|In-Progress | |In-Progress | ||
|TBD | |TBD | ||
Line 425: | Line 425: | ||
|11/03/2014 | |11/03/2014 | ||
|11/10/2014 | |11/10/2014 | ||
+ | |Basic CAN communication with Master, IO and Android | ||
+ | |In-progress | ||
+ | |TBD | ||
+ | |- | ||
+ | |12 | ||
+ | |11/10/2014 | ||
+ | |11/17/2014 | ||
|Synchronization and Data Integrity (Semaphores/Mutex/Critical Section) | |Synchronization and Data Integrity (Semaphores/Mutex/Critical Section) | ||
|Scheduled | |Scheduled | ||
|TBD | |TBD | ||
|- | |- | ||
− | | | + | |13 |
− | |11/ | + | |11/18/2014 |
|11/25/2014 | |11/25/2014 | ||
|Final Integration of CAN Framework and Implementation of CAN communication with other modules | |Final Integration of CAN Framework and Implementation of CAN communication with other modules | ||
Line 436: | Line 443: | ||
|TBD | |TBD | ||
|- | |- | ||
− | | | + | |14 |
|11/26/2014 | |11/26/2014 | ||
|12/09/2014 | |12/09/2014 |
Revision as of 23:40, 4 November 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 | Completed | 10/27/2014 |
5 | 10/26/2014 | 11/01/2014 | Develop hardware and code for automatic headlight control, battery health indication | Ongoing | 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 | Distance to Destination Calculation and Algorithm | In-Progress | TBD |
11 | 11/03/2014 | 11/10/2014 | Basic CAN communication with Master, IO and Android | In-progress | TBD |
12 | 11/10/2014 | 11/17/2014 | Synchronization and Data Integrity (Semaphores/Mutex/Critical Section) | Scheduled | TBD |
13 | 11/18/2014 | 11/25/2014 | Final Integration of CAN Framework and Implementation of CAN communication with other modules | Scheduled | TBD |
14 | 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 | 10/26/2014 |
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 |
0x082 | Heartbeat | |
0x18A | Motor Speed & Direction |
byte[0] : (uint8_t) Speed byte[1] : (uint8_t) Direction |
0x442 | Power-Up Acknowledgement |
char version[16] char time[16] |
Message Number | Purpose | Data layout |
0x0D1 | Heartbeat Ack (Response to 0x082) | |
0x341 | Speed Data |
byte[0] : (uint8_t) Speed of Car |
0x381 | Error Message | |
0x411 | Power Up |
byte[0] : (char) Version |
Message Number | Purpose | Data layout |
0x0D4 | Heartbeat Ack (Response to 0x082) | |
0x204 | Compass Data |
byte[0] : (uint8_t) Current Angle byte[1] : (uint8_t) Desired Angle byte[2-3] : (uint16_t) Distance to Destination byte[4-5] : (uint16_t) Distance to Checkpoint |
0x274 | Request Checkpoint |
byte[0] : (uint8_t) Checkpoint Number |
0x2C4 | Current Location |
byte[0-1] : (uint16_t) Latitude byte[2-3] : (uint16_t) Longitude byte[4] : (uint8_t) GPS Status |
0x384 | Error Message | |
0x414 | Power Up |
byte[0] : (char) Version |
Message Number | Purpose | Data layout | |
0x0D6 | Heartbeat Ack (Response to 0x082) | ||
0x116 | Pause Car | ||
0x156 | Resume Car | ||
0x2A6 | Next Checkpoint Data |
Message1 : byte[0-1] : (uint16_t) Latitude Message1 : byte[2-3] : (uint16_t) Longitude Message1 : byte[4] : (uint8_t) New Route Message1 : byte[5] : (uint8_t) Final Checkpoint Message1 : byte[6] : (uint8_t) Checkpoint Number Message1 : byte[7] : (uint8_t) Frame Number |
Message2 : byte[0-1] : (uint16_t) Total Distance Message2 : byte[2] : (uint8_t) Frame Number |
0x386 | Error Message | ||
0x3C6 | Mode (Free/Home/GPS) |
byte[0] : (uint8_t) Mode | |
0x416 | Power Up |
byte[0] : (char) Version |
Message Number | Purpose | Data layout |
0x0D3 | Heartbeat Ack (Response to 0x040) | |
0x1C3 | Front/Rear Sensor Data |
byte[0] : (uint8_t) Left Sensor Data byte[1] : (uint8_t) Middle Sensor Data byte[2] : (uint8_t) Right Sensor Data byte[3] : (uint8_t) Rear Sensor Data |
0x303 | Other Sensor Data |
byte[0] : (uint8_t) Nattery Health Data byte[1] : (uint8_t) Light Sensor Data |
0x383 | Error Message | |
0x413 | Power Up |
byte[0] : (char) Version |
Message Number | Purpose | Data layout |
0x047 | Hardware Reset | |
0x0D7 | Heartbeat Ack (Response to 0x082) | |
0x117 | Pause Car | |
0x157 | Resume Car | |
0x387 | Error Message | |
0x3C7 | Mode (Free/Home/GPS) |
byte[0] : (uint8_t) Mode |
0x417 | Power Up |
byte[0] : (char) Version |
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/