F16: Kasper

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Project Title

Self Driving Car

Abstract

This project implements a self-driving car.

Objectives & Introduction

Objective of this project is to create a self driving car

Team Members & Responsibilities

We have used five controllers


Team Schedule

Sl No. Start Date End Date Task Status Actual Completion Date
1 09/20/2016 09/27/2016
  • Divide the overall project into modules.
  • Assign the modules to a team of two.
 Completed 09/27/2016
2 09/28/2016 10/04/2016
  • Study previous reports to get an overall understanding of the project
  • Plan each task meticulously.
  • Order components and review them for hardware errors
  • Understand the placement of modules in the car
 Completed 10/04/2016
3 10/05/2016 10/11/2016
  • Understand the hardware design and requirements of each task.
 In Progress
4 10/12/2016 10/18/2016
  • Design the overall architecture based on the protocol for communication, power requirement and the number of special purpose GPIOs required
  • Consider CAN message IDs, data size and format proposals for all CAN messages on the bus
 Upcoming Task
5 10/19/2016 10/25/2016
  • Plan methods for testing individual modules based on communication protocols used.
Upcoming Task
6 10/26/2016 11/08/2016
  • Integrate Sensor modules with SJone board
  • Develop obstacle avoidance algorithm with sensor integration
  • Develop Master for CAN communication
  • Integrate Mobile app with the Controller
 Upcoming Task
7 11/09/2016 12/20/2016
  • Test individual sensor with Master controller using CAN communication
Upcoming Task
8 11/21/2016 12/05/2016
  • Integrate and test extensively after connecting all sensors to the controller
Upcoming Task


Parts List & Cost

Item# Part Desciption Vendor Qty Cost $
1 RC Car From Preet 1 0
2 SJOne board Preet 5 80
3 GPS Module From Preet 1 40
4 Triple Axis Magnetometer (Compass) Sparkfun 1 15
5 Bluetooth Module Sparkfun 1 24.95
6 LCD screen Adafruit 1 24.95

Sensor Controller

Team Members & Responsibilities

  • Shruthi Narayan
  • Rimjhim Ghosh

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 10/5/2016 10/11/2016
  • Research and order the sensors to be used in the project
 Completed 10/9/2016
2 10/12/2016 10/18/2016
  • Study sensor data sheets.
  • Identify pins and prepare hardware connection diagram with SJOne Board.
 In Progress
3 10/19/2016 10/25/2016
  • Wire the sensors and check the sensors with the sample code.
 Upcoming Task
4 10/26/2016 11/1/2016
  • Prepare the code sketch for sensor module.
 Upcoming Task
5 11/2/2016 11/08/2016
  • Interface ADC ultrasonic sensor to SJOne board, read sensor values and filter the readings.
 Upcoming Task
6 11/9/2016 11/15/2016
  • Implement with multiple sensors.
  • Test and debug the issues.
 Upcoming Task
7 11/16/2016 11/22/2016
  • Prepare sensor values to be sent over CAN bus and testing out the correctness of sensor can messages
 Upcoming Task
8 11/23/2016 11/29/2016
  • Optimize the code.
  • Collaborate with other teams and updating the code as needed.
 Upcoming Task
9 11/30/2016 12/05/2016
  • Test and debug
 Upcoming Task

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Motor & I/O Controller

Team Members & Responsibilities

  • Chethan Keshava
  • Prashant Aithal

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/27/2016 10/04/2016
  • Finalize project and team schedule and update project wiki
 Completed 10/04/2016
2 10/04/2016 10/11/2016
  • LCD module selection and purchase
 Completed 10/07/2016
3 10/11/2016 10/18/2016
  • Understanding LCD data sheets and testing the basic functionality
 Upcoming Task
4 10/18/2016 10/25/2016
  • Interfacing motors and test control of motors from the SJOne board
 Upcoming Task
5 10/25/2016 11/1/2016
  • Integrate LCD, Power, Motors together and control using SJOne board
Upcoming Task
6 11/1/2016 11/15/2016
  • Discuss with other teams to get simulated inputs from GPS and sensor module and test car control with those inputs. (Testing of obstacle avoidance)
 Upcoming Task
7 11/15/2016 11/28/2016
  • Collaborate with other teams to establish CAN communication between all the modules
 Upcoming Task
8 11/28/2016 12/05/2016
  • Product testing and trial runs
Upcoming Task

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Geographical Controller

Team Members & Responsibilities

  • Ankit Gandhi

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/28/2016 10/4/2016
  • GPS and Compass module selection and purchase
 Completed 10/6/2016
3 10/5/2016 10/11/2016
  • Pin Identification and connection diagram
Completed 10/10/2016
4 10/12/2016 10/18/2016
  • GPS Firmware Development and individual testing
 InProgress
5 10/19/2016 10/25/2016
  • Compass Firmware Development and individual testing
 Upcoming Task
6 10/26/2016 11/01/2016
  • Calibrating GPS and Compass Module
 Upcoming Task
7 11/02/2016 11/08/2016
  • Communication with Master using CAN
 Upcoming Task
8 11/09/2016 12/05/2016
  • Testing and debugging with whole system
Upcoming Task

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

GPS Module

Ultimate GPS

The breakout is built around the MTK3339 chipset, a no-nonsense, high-quality GPS module that can track up to 22 satellites on 66 channels


  • -165 dBm sensitivity, 10 Hz updates, 66 channels
  • 5V friendly design and only 20mA current draw
  • RTC battery-compatible
  • Internal patch antenna + u.FL connector for external active antenna


The Compass Module - HMC5883L

Compass

Compass module is based on Honeywell’s HMC5883L. When current flows through a wire, a magnetic field is created. This is the basic principle behind electromagnets. This is also the principle used to measure magnetic fields with a magnetometer. The direction of Earth's magnetic fields affects the flow of electrons in the sensor, and those changes in current can be measured and calculated to derive a compass heading.

The features of HMC5883L are:

  • Simple I2C interface
  • 2.16-3.6VDC supply range
  • Low current draw
  • 5 milli-gauss resolution


Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Communication Bridge Controller

Team Members & Responsibilities

  • Bharat Khanna
  • Shantanu Vashishtha


Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/20/2016 09/27/2016
  • Dividing the project into smaller tasks.
  • Based on the number of tasks allocating each task to a team of two.
 Completed 09/27/2016
2 09/28/2016 10/4/2016
  • Study previous project reports and order Bluetooth module and other components based on the following factors:
  • Power requirement, preferably with input voltage within SJOne board output voltage range.
  • Review of the components that give few or no hardware errors.
  • Ease of integration with SJOne board.
 Completed 10/9/2016
3 10/5/2016 10/11/2016
  • Understanding Bluetooth module hardware design and protocol requirement for communication.
  • Figuring out the pins on SJOne board required for communication with Bluetooth module.
 In Progress
4 10/12/2016 10/18/2016
  • CAN message ID's, priorities, data size and format proposals for all the possible CAN messages on the bus.
  • Planning methods for testing Bluetooth module.
 Upcoming Task
5 10/19/2016 10/25/2016
  • Work on Bluetooth firmware development to integrate with SJ one board.
 Upcoming Task
6 10/26/2016 11/08/2016
  • Develop basic Android application to work with the Bluetooth module.
  • Test the communication between SJ one board and Android application over Bluetooth protocol.
 Upcoming Task
7 11/9/2016 11/20/2016
  • Interface Bluetooth module with CAN.
  • Integration of geolocation API with mobile APP.
  • Testing the Bluetooth module with Mobile application by incorporating filter.
 Upcoming Task
8 11/21/2016 12/05/2016
  • Testing the Bluetooth module with Master controller using CAN communication
  • Testing and debugging of the complete system.
 Upcoming Task

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Master Controller

Team Members & Responsibilities

  • Aajna Karki
  • Spoorthi Mysore Shivakumar

Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/26/2016 10/02/2016
  • Understand the tasks involved and the overall scope of the Master Controller
  • Finalise on the CAN transceiver to be used and place an order for the same
 Completed 10/02/2016
2 10/03/2016 10/11/2016
  • Finalise on the node addresses and message IDs for each of the CAN controllers
 In Progress
3 10/12/2016 10/18/2016
  • Understand the overall hardware design and build the car
  • Implement a way to stop the car which would help control crashes during initial integration testing
 Upcoming Task
4 10/19/2016 10/25/2016
  • Research on the algorithms to be designed - Obstacle avoidance and Navigation
 Upcoming Task
5 10/26/2016 10/31/2016
  • Co-ordinate during the integration of the motor and sensor modules from the Master Controller perspective
  • Establish communication across different CAN controllers interfaced
 Upcoming Task
6 11/01/2016 11/08/2016
  • Acquire periodic data from Sensor and Bluetooth controllers and provide the data to the Motor controller
 Upcoming Task
7 11/9/2016 11/17/2016
  • Implement the Obstacle Avoidance Algorithm based on the sensor data received
  • Integrate the Geographical Controller and test the algorithm for functionality
 Upcoming Task
8 11/18/2016 11/22/2016
  • Communicate with the Bluetooth controller to send and receive updates from the Geographical Controller
 Upcoming Task
9 11/23/2016 11/27/2016
  • Implement the Navigation algorithm based on the data received from the Geographical controller
 Upcoming Task
10 11/28/2016 12/05/2016
  • Test extensively and debug issues
 Upcoming Task


Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.


My Issue #1

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.

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