F14: Team3-Self Driving Car - Optimus Prime

Self Driving Car

A self governing car, capable of sensing its environment and navigating without human input. The car senses its surroundings and is capable of updating their maps based on sensory input, allowing the vehicle to keep track of its position.

Abstract

This project is about developing a self driven car. It consists of 6 controllers - Master, Motor, Sensor, GPS, Communication Bridge and I/O, which communicate with each other over the CAN bus as shown below. Each controller sends out the information over the CAN bus in the form of messages. Every controller receives only the required messages and performs the necessary task. The path navigation is achieved by the GPS. Thus the controllers do the task of a driver and navigate the path by avoiding the obstacles.

Block Diagram

Objectives & Introduction

Team Members & Responsibilities

Sensor Controller
- Team 1: Deepak Yadav & Vinod Pangul
Motor Controller
- Team 2: Naghma Anwar & Shiva Moballegh
I/O Unit
- Team 3: Shreeram Gopalakrishnan & Sreeharsha Paturu Gangadhara
Communication Bridge & Android
- Team 4: Johnny Yam, Kevin Beadle & Chia Pin Tseng
Geographical Controller
- Team 5: Bhushan Gopala Reddy, Ryan Marlin & Rishikesh Nagare
Master Controller
- Team 6: Shashank Tupkar, Bhargava Leepeng Chandra & Preeti Benake

Schedule

Team Schedule

Sl.No	Start Date	End Date	Task	Status
1			Order RC Car	Completed on time
2			Order Other parts(Sensor/LCD/Motor Controller...)	Completed
3	9/30/2014	11/25/2014	Master Controller Team task	Ongoing
4	10/06/2014	11/15/2014	Sensor Team task	Completed
5			Motor Controller Team task	Ongoing
6			Geographical Controller Team task	Ongoing
7			I/O Team task	Ongoing
8			Communication Bridge + Android Team task	Ongoing
9			Complete project integration	???
10			Testing-1	???
11			Testing-2	???

Master Controller Team Schedule

Week No.	Start Date	Planned End Date	Task	Status	Actual End Date
1	9/30/2014	10/7/2014	* Implement Basic CAN Hardware to communicate between 2 Controllers	Completed We are able to send a message from Tx over CAN and perform a specific operation at the Rx.	10/7/2014
2	10/7/2014	10/14/2014	* Design CAN Acceptance Filter among different Controllers * Define and Implement CAN Frame structure for proper communication establishment	Completed Only messages with in range of acceptance filter are received, Decided on CAN frame structure using 11-bit frame.	10/11/2014
3	10/14/2014	10/21/2014	* Develop Inter-Controller Communication over CAN * Test point-to-point and Broadcast message transmission * Implement a Counter to count and display number of messages	Completed CAN Communication among multiple boards achieved, Point-to-Point & Broadcast modes are working, Able to display the count on 7-Seg Display on SJOne board.	10/19/2014
4	10/21/2014	10/28/2014	* Layout blueprint for Controller and Module positioning * Assemble the RC Car with all the controllers and Modules * Define the Message List by working with other teams * Start working on CAN Periodic message structure	Completed RC car design and module assembly is completed. Need some fine tuning for connections. Message list is generated and periodic message implementation started.	10/28/2014
5	10/28/2014	11/04/2014	* Complete CAN Periodic message structure to transmit Broadcast messages over CAN and establish controlled communication among different controllers * Implement Start condition detection and Fetch boot status from all controllers and display the status of each controller	Completed Periodic Message Setup done. Able to receive boot status. Need to work on display of status.	11/03/2014
6	11/04/2014	11/11/2014	* Design 'Kill Switch' in co-ordination with Motor Controller team and Bridge Controller team * Develop a 'CAN Bus Crash' detection and reset CAN Bus methodology * Design Automatic Head Light turn ON/OFF functionality by working with Sensors Controller team	Completed Kill Switch implemented through Bridge controller. Head Lights implemented. LCD display of Status achieved.	11/11/2014
7	11/11/2014	11/18/2014	* Implement File Log saving to SD Card at periodic intervals * Work on Restoring to last known Status if the system crashes while running * Develop Detection technique if controllers are reaching 'Error State'	Completed File Log implemented. Error State is partially implemented. Obstacle detection achieved. Needed refinement in Direction control logic. Need to implement reverse logic.	11/18/2014
8	11/18/2014	11/25/2014	* Project Integration and testing Basic Self_Drive Capability of the Car * Check the Functionality and behavior of all controllers in all the known contexts * Perform modifications (if any) to eliminate any bugs to make the car work seamlessly * Final Integration of car and testing there after	Completed Integration Started. Faced difficulty in synchronization.	11/26/2014
9	11/25/2014	12/02/2014	* Final Integration and testing Self_Drive Capability of the Car	Ongoing	--/--/----

Sensor Team Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/6/2014	10/18/2014	Order Ultra Sonic Sensors	Completed [Got two sensors (front and back), 2 more (front right & left) to order ->Completed.]	10/19/2014
2	10/9/2014	10/9/2014	Sensor Data Sheet review with the team	Completed	10/9/2014
3	10/9/2014	10/16/2104	Sensor code development	Completed (Implementing filter (HW/SW) to get more accurate data ->(Done). Add logic to get the rest of the three sensor(front right/left and back data)->(Done) (Note: Delayed due to the implementation of CAN structure and calibration of IR sensor)	10/21/2014
4	10/22/2014	10/25/2014	Sensor software testing	Ongoing
5	10/25/2014	10/28/2014	Sensor real time testing	Ongoing
6	10/13/2014	10/15/2014	Light sensor code Development	Completed	10/14/2014
7	10/13/2014	10/15/2014	Accelerometer sensor code Development to detect tilt	Completed	10/14/2014
8	10/15/2014	10/15/2014	Light Sensor and Accelerometer Testing	Completed	10/15/2014
9	10/29/2014	10/31/2014	Battery status controller circuit Design	Ongoing
10	11/01/2014	11/02/2014	Battery status-circuit Testing
11	11/03/2014	11/04/2014	Common Communication SW code implementation and testing
11	11/04/2014	11/09/2014	Complete Hardware testing-1
12	11/10/2014	11/15/2014	Complete Hardware testing-2

Motor Controller Team Schedule

Week No.	Start Date	Planned End Date	Task	Status	Actual End Date
1	9/30/2014	10/7/2014	* Study SJOne board's motor controller concepts and PWM	Completed Very simple code. Just two lines. Set the frequency. Set the duty cycle.	10/7/2014
2	10/7/2014	10/14/2014	* Open up RC Car's motor and servo connections * Study the Electronic Speed Control's functions	Completed Motor and Servo operate on the same frequency ESC needs calibration each time it is switched on. Need to find a solution for this.	10/11/2014
3	10/14/2014	10/21/2014	* Define the duty cycles for proper motor and servo signals	Completed Using trial and error, figured out the duty cycle for constant speed and turns	10/19/2014
4	10/21/2014	10/28/2014	* Add CAN frame structure to the motor functions * Test for communication between motors and sensors for prototype demo * Define the Message List by working with other teams	Completed	11/04/2014
5	10/28/2014	11/04/2014	* Start working on CAN Periodic message structure * Start looking for speed sensors	Completed Bought magnetic speed sensor from Traxxas telemetry from local RC Car store	11/04/2014
6	11/04/2014	11/11/2014	* Attach speed sensors to the motor * Test CAN communication between motor controller and other controllers	Completed Speed sensors attached	11/11/2014
7	11/11/2014	11/18/2014	* Work on speed sensors. Figure out the way to send sensor data to master controller. * Test for proper and accurate CAN communication	Completed	11/18/2014
8	11/18/2014	11/25/2014	* Project Integration and testing basic self drive capability of the car * Check the functionality and behavior of the motor controller in all the known contexts * Perform modifications (if any) to eliminate any bugs to make the motor work seamlessly * Final Integration of car and testing there after	Ongoing	--/--/----

Geographical Team Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/4/2014	10/13/2014	Research and Order GPS module	Received GPS module	10/7/2014
2	10/7/2014	10/18/2014	Interface GPS module with LPC1758	Finished	10/17/14
3	10/14/2014	10/18/2014	Receive Compass module from Preet	Received	10/9/2014
4	10/18/2014	11/4/2014	Parse GPS data and setup constructs to send appropriate data	Ongoing
5	10/14/2014	10/18/2014	Interface the Compass Module	Finished	10/16/2014
6	10/25/2014	11/4/2014	Calibration of Compass	Code completed. Need to test using the car	--/--/----
7	11/4/2014	11/11/2014	Integrate GPS and Compass data	Ongoing
8	10/25/2014	11/09/2014	Testing and mapping of GPS co-ordinates	Ongoing
9	11/18/2014	11/25/2014	Final integration and testing

IO Team Schedule

Sl.No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/7/2014	10/13/2014	Research and Order LCD Display	Ordered LCD Display	10/13/2014
2	10/14/2014	10/21/2014	Interfacing LCD Display with LPC1758	Completed	10/21/2014
3	10/21/2014	10/28/2014	Implementing CAN structure with LCD tasks.	Completed	11/30/2014
4	10/28/2014	11/04/2014	Subscribe data from motor, sensor and GPS controller,display it on LCD.	Ongoing
5	11/04/2014	11/11/2014	Setup hardware and write code for START, STOP and Headlight buttons.	TBD
6	11/11/2014	11/18/2014	Testing and mounting hardware on car.	TBD
7	11/18/2014	11/25/2014	Final Testing	TBD

Communication Bridge & Android Team Schedule

Sl.No	Start Date	Planned End Date	Task	Status	Actual End Date
1	9/30/2014	9/30/2014	Obtain Bluetooth Module (already had one)	Done	9/30/2014
2	9/30/2014	10/14/2014	Develop Basic Android App with Bluetooth Sensor Communication	Done	10/7/2014
3	10/11/2014	10/14/2014	Interface Bluetooth Module with SJSU Dev Board	Done	10/11/2014
4	10/12/2014	10/19/2014	Be able to send bi-directional arbitrary messages between Android App and Dev Board via Bluetooth	Done	10/14/2014
5	10/14/2014	11/21/2014	Subscribe to all CAN messages and dump all of them via Bluetooth to Android App or web interface	Done	11/24/2014
6	10/14/2014	11/21/2014	Ajax & Websocket server remote structure	Done	11/01/2014
7	10/14/2014	11/21/2014	Be able to input GPS coordinates through either (or both) Android App and web interface and send through Bluetooth then CAN bus	Done	11/24/2014
8	10/21/2014	11/24/2014	Android App and webpage GUI enhancements (Google Maps, Google Drive)	Done	11/24/2014
9	10/21/2014	11/30/2014	Data visualization (status, compass, speed, location,....)	On going	TBD

Parts List & Cost

Item#	Part Desciption	Vendor	Part Number	Qty	Cost
1	RC Car	Amazon.com	Traxxas 37076 Rustler VXL	1	$380.57
2	RC Car Battery	Amazon.com	Traxxas 2926 NiMH 8.4V Hump 3000mAh TRA Connector	2	$67.38
3	CAN Transceiver	Texas Instrument	SN65HVD232D	15	$75.00
4	Assembly Components	Amazon.com, Anchor & HSC	PCBs, Mechnical & Electical Components	NA	$110.80
5	Power Supply	Pololu.com	6V Battery, 5V Regulator	1	$34.85
6	Sonar sensor	Maxbotix	LV-MaxSonar-EZ1 MB1010	3	$99.55
7	Sonar sensor	Given by Preet	LV-MaxSonar-EZ1 MB1010	1	Free
8	Compass Module	Given by Preet	HoneyWell: HMC 6352	1	Free
9	LCD Display	New Haven	NHD-0216B3Z-FL-GBW-V3-ND	1	$$$.$$
10	Battery Status	Amazon.com	Dc 4.0-30v LED Digital Display Voltage Meter	1	$6.91
	Total Cost				$$$.$$

Design & Implementation

Controller Communication Table

Controllers
Controller ID	Controller Type
0x01	Master Controller
0x02	Motor Controller
0x03	Sensor Controller
0x04	Geographical Controller
0x05	IO Controller
0x06	Bridge Controller

Common Communication Table
Message Number	Purpose / Data layout
0x101	Get version and boot info
0x102	Get general info
0x103	Synchronize (set) time: byte [0-3] : System time
0x201	byte [0-3] : Version Info byte [4-7] : boot timestamp
0x202	byte [0-3] : Current time byte [4] : CPU usage %

Subscription Rate Info
Byte 0	Effect
0	Off
1	1Hz
5	5Hz
10	10Hz
20	20Hz
50	50Hz
Any other value	Invalid date rate

Master Controller Communication Table
Message Number	Purpose	Data Byte Pattern
0x101	Ask for Boot and Version Info. of all Controllers	Byte[0]: Send a '1'
0x103	Sync. Master System Time on all Controllers	Byte[0-3]: System Time [HH:MM:SS]
0x201	Master Gets Status Update from all controllers	Byte[0]: Boot Status Byte[1]: Version Info.
0x203	Master Gets current Time from all Controllers	Byte[0-3]: Time in [HH:MM:SS]
0x301	Master Enable Main UI in Android	Byte[0]: Send a '1'
0x302	Master set GPS Destination on Geo Controller	Byte[0-3]: Latitude Value Byte[4-7]: Longitude Value
0x303	Master set Longitude Way-Points on Geo	bytes [0-1] : Total Way-Points count bytes [2-3] : Way-Point index bytes [4-7] : Longitude(float)
0x304	Master set Latitude Way-Points on Geo	bytes [0-1] : Total Way-Points count bytes [2-3] : Way-Point index bytes [4-7] : Latitude(float)
0x305	Master Send GPS FIX Ack to Bridge	Byte[0]: Send a value '1'
0x306	Master Send Dest. Reached Ack to Bridge	Byte[0]: Send a Value '1'
0x500	Display Boot and Version Info. on LCD	Byte[0]: Boot Status Response Byte[1]: Version Info.
0x501	Display Controllers Time on LCD	Byte[0-3]: Time in [HH:MM:SS]
0x502	Display Destination Has Reached	Byte[0]: Send a '1'
0x503	Master Set Speed and Direction of Motor	Byte[0]: LEFT/RIGHT (or) FRONT/BACK command
0x504	Display Speed of Motor on LCD	Byte[0]: Speed Value
0x505	Display GPS and Compass values on LCD	Byte[0-1]: New Degree to Head Byte[2-3]: Dist to Destination Byte[4-5]: Current Degree value
0x506	Display Sensor Values on LCD	Byte [0]: Front sensor value in inches Byte [1]: Front Left sensor value in inches Byte [2]: Front Right sensor value in inches Byte [3]: Back sensor value in inches
0x507	Display Battery Status on LCD	Byte[0]: Battery Status Value

Motor Controller Communication Table
Message Number	Purpose	Data layout
0x508	Speed Sensor Data	byte [0] : Speed sensor value in rpm
0x509	Vehicle Direction/Movement Data	byte [0] : Movement Control 0x1 : Forward 0x2 : Reverse 0x3 : Stop byte [1] : Steering Control 0x1 : Left 0x2 : Right 0x3 : Straight

Sensor Controller Communication Table

Message Number

Purpose

Data layout

0x510

Front/Back Range Sensor Data

byte [0] : Front sensor value in inches
byte [1] : Front Left sensor value in inches
byte [2] : Front Right sensor value in inches
byte [3] : Back sensor value in inches

0x511

Accelerometer/Light/Battery Sensor Data

byte [0] : X axis Value
byte [1] : Y axis Value
byte [2] : Z axis Value 
byte [3] : Light sensor value
byte [4] : Battery status value

GPS Controller Communication Table
Message Number	Purpose	Data layout
0x518	Send GPS Data to Master	byte [0] : New Degree byte [1] : Distance byte [2] : Current Degree
0x519	Send GPS FIX ACK to Master	byte[0]: Send a '1'
0x52A	Send Destination Reached ACK to master	byte[0]: Send a '1'

IO Communication Table
Message Number	Purpose	Data layout
0x520	Subscribe to Sensor data	bytes [0-5] : Sensor Value in Inches
0x521	Subscribe to Motor data	bytes [0-2] : Vehicle Direction
0x522	Subscribe to Compass Data	bytes [0] : Compass Data in degrees
0x523	Subscribe to Battery Status	bytes [0] : Battery Status Value

Communication Bridge Communication Table
Message Number	Purpose	Data layout
0x528	Set Car Speed (Kill Switch) - temporary allow for other non-zero value for demo	byte[0] - speed value
0x529	Destination GPS location	bytes [0-3] : latitude (float) bytes [4-7] : longitude (float)
0x52A	Turn to degree	bytes [0-3] : degree(float)
0x52B	Way points longitude	bytes [0-1] :total waypoints count bytes [2-3] :waypoint index bytes [4-7] : longitude(float)
0x52C	Way points latitude	bytes [0-1] :total waypoints count bytes [2-3] :waypoint index bytes [4-7] : latitude(float)
0x52D	remote status (ie. Android connection status)	bytes [0]=> 0:disconnected(passive send) 1:on disconnect(active) 2:connected(passive) 3:on connect(active) 0xFF:error(active/passive)

Pin Connectivity Table

Sensor Controller Pin Connectivity Table
Description	Your Device Port	SJOne Development Board Port
Supply Voltage
Ground		GND
Sonar Sensor
IR Sensor
CAN Transceiver	Pin no. 1 Driver Input Pin no. 4 Receiver Output	P0.1 CAN TD1 P0.0 CAN RD1

Motor Controller Pin Connectivity Table
Description	Your Device Port	SJOne Development Board Port	Commands	Note
Supply Voltage	6V from NiMH battery	N/A
Ground	GND (Black Wire)	GND
ESC	Control (White Wire)	P2.0 PWM	PWM motor(PWM::pwm1, 101); motor.set(14.5);	Sets PWM signal of 101 Hz Sets duty cycle of 14.5% for forward movement
Servo	Control (White Wire)	P2.1 PWM	PWM servo(PWM::pwm2, 101); servo.set(15);	Sets PWM signal of 101 Hz Sets duty cycle of 15% for no turn
CAN Transceiver	Pin no. 1 Driver Input Pin no. 4 Receiver Output	P0.1 CAN TD1 P0.0 CAN RD1		TI CAN Transceiver SN65HVD232D Pin 7 - CAN H & Pin 6 - CAN L

I/O Controller Pin Connectivity Table
Description	Your Device Port	SJOne Development Board Port	Commands	Note
Supply Voltage	5V supply			Receives 5V supply that is used to power up all the boards
Ground	GND	GND
LCD Display	Rx pin Tx pin	Rx ---> TXD2 (Port 2.8) Tx ---> RXD2 (Port 2.9)	u2.putline("F0") u2.putline("$CLR_SCR") u2.putline("$GOTO:3:0")	Initialization command for LCD Clears the screen Point the cursor to line number 0 and character number 3
CAN Transceiver	Pin no. 1 Driver Input Pin no. 4 Receiver Output	P0.1 CAN TD1 P0.0 CAN RD1

Geographical Controller Pin Connectivity Table
Description	Your Device Port	SJOne Development Board Port
Supply Voltage	Vcc	3v3
Ground	GND	GND
GPS Module	Channel 1 -> Rx, Channel 2 -> Tx	Channel 1-> Tx P2.8, Channel 2-> Rx P2.9
Compass	SCL SDA	SCL2 -> P0.11 SDA2 -> P0.10
CAN Transceiver	Pin no. 1 Driver Input Pin no. 4 Receiver Output	P0.1 CAN TD1 P0.0 CAN RD1

Master Controller Pin Connectivity Table
Description	Your Device Port	SJOne Development Board Port
Supply Voltage
Ground		GND
CAN Transceiver	Pin no. 1 Driver Input Pin no. 4 Receiver Output	P0.1 CAN TD1 P0.0 CAN RD1

Communication Bridge Pin Connectivity Table
Description	Bluetooth Bee Port	SJSU Development Board Port	CAN Transceiver
3.3V Supply Voltage	3V3	3V3	3V2
Ground	GND	GND	GND
UART Channel 1	TX	RX
UART Channel 2	RX	TX
CAN TXD		CAN TD1	TXD
CAN RXD		CAN RD1	RXD

Communication Bridge + Android

Hardware Design

In order to facilitate wireless communication between the SJSU One Board and a Android device, a Bluetooth Bee module is used. This module was chosen because it can connect and mount directly onto the SJSU One Board's XBee breakout socket.
The Bluetooth Bee is a Serial Profile Port (SPP) Bluetooth interface that connects with the SJSU development board's UART3.

Bluetooth Bee Module

Hardware Interface

The relevant pin connectivity table between the Bluetooth Bee module and the SJSU One Development Board is shown below:

Communication Bridge Pin Connectivity Table
Description	Bluetooth Bee Port	SJSU Development Board Port	CAN Transceiver
3.3V Supply Voltage	3V3	3V3	3V2
Ground	GND	GND	GND
UART Channel 1	TX	RX
UART Channel 2	RX	TX
CAN TXD		CAN TD1	TXD
CAN RXD		CAN RD1	RXD

The Bluetooth Bee Module interfaces with an Android device through Bluetooth. In addition, various commands and data are then sent and received to and from the CAN bus through the Bluetooth Module to the Android device.

Software Design

The bridge controller and Android APP work as routers

Bridge Controller

Bridge controller translates CAN bus data into plain text and send it to android platform
The Bridge controller is comprised of the SJSU Development Board with the Bluetooth Bee Module.
The Bluetooth Bee Module can be configured by writing to UART3 specific commands as specified in the Bluetooth Bee Seeedstudio Wiki.
The Bluetooth Bee Module was configured as SLAVE MODE via the command: \r\n+STWMOD=0\r\n (The Android device will act as the Bluetooth Master)
The Bluetooth device name was set to "Yam_BluetoothBee" using the command: \r\n+STNA=Yam_BluetoothBee\r\n
Allowing other devices to connect to the Bluetooth Module was enabled using the command: \r\n+STOAUT=1\r\n
Finally the Bluetooth Bee Module started broadcasting/inquiring to connect to another device using the command: \r\n+INQ=1\r\n
There are many other commands, such as to change the default pincode value, but they were not used for this project.

Bridge framework

Android Controller

Android platform receives the text data from bridge controller, then, transmit the data through ajax or websocket
External controller could be any TCP accessible device (simple pebble watch program (20 lines) are used to control start and stop)
One administrator(control and receive), multiple observers(only receive)
Number of way points and routing is dynamically determined and done using the Google Maps API

Bridge framework

cross platform

Intro

Sensors : Sonar Sensors + IR Sensors

A) Sonar Sensor:

The ultrasonic sensors are in air, non-contact object detection and ranging sensors that detect objects within an area.
We are using 3 such sensors in front to get wide angle vision for the car.
Ultrasonic sensors use high frequency sound to detect and localize objects in a variety of environments. Ultrasonic sensors measure the time of flight for sound

that has been transmitted to and reflected back from nearby objects. Based upon the time of flight, the sensor then outputs a range reading.

B) Infrared Sensor (IR):

The basic principle of operation of an infrared sensor is based on infrared light that is reflected when its hits an an obstacle. An IR receiver captures

the reflected light and the voltage are measured based on the amount of light received.

IR Sensors have 3 pins to connect to SJOne Board:

1) Ground (GND)
2) +Vcc (5 V)
3) Vo (ADC-4 is on P1.30, select this as ADC0.4)

IR Sensor Block Diagram

Calibrated voltage output with distance

I/O Unit:

The IO Control Unit manages the LCD Display, switch to start and stop the car
It receives CAN data from the Master controller and accordingly processes to display on the LCD through UART
The 7 segment LED displays the CPU usage

LCD Display

The LCD Display is placed on the rear side of our RC Car
It displays the sensor and GPS values in real time.

LCD Initialization