F14: Team3-Self Driving Car
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Revision as of 19:46, 28 October 2014 by Proj user22 (talk | contribs) (→Controller Communication Table)
Contents
Grading Criteria
- How well is Software & Hardware Design described?
- How well can this report be used to reproduce this project?
- Code Quality
- Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
- Schematic Quality
- Quality of technical challenges and solutions adopted.
Self Driving Car
Abstract
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 | Actual Completion Date |
|---|---|---|---|---|---|
| 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 | Ongoing | |
| 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 |
|
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 |
|
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 |
|
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 |
|
--/--/---- |
| 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 |
|
--/--/---- |
| 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 |
|
--/--/---- |
| 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' |
|
--/--/---- |
| 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 |
|
--/--/---- |
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 Team Schedule
| Week No. | Start Date | Planned End Date | Task | Status | Actual End Date |
|---|---|---|---|---|---|
| 1 | 9/30/2014 | 10/7/2014 | Study the motor controller concepts | Done | 10/7/2014 |
| 2 | 10/7/2014 | 10/14/2014 | Set up the CAN transceiver | Done | 10/14/2014 |
| 3 | 10/14/2014 | 10/21/2014 | Interface the SJOne-board PWM with SERVO motor | On going | TBD |
| 4 | 10/21/2014 | 10/28/2014 | Set up communication with other controllers | On going | TBD |
| 5 | 10/28/2014 | 11/4/2014 | Testing | Scheduled | TBD |
| 6 | 11/4/2014 | 11/11/2014 | Testing | Scheduled | TBD |
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 | 11/28/2014 | Write CAN Subscription tasks for communication with Master controller. | Ongoing | |
| 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 | On going | TBD |
| 6 | 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 | On going | TBD |
| 7 | 10/21/2014 | 11/24/2014 | Android App and webpage GUI enhancements (Google Maps, Google Drive) | Scheduled | TBD |
Parts List & Cost
| Item# | Part Desciption | Vendor | Part Number | Qty | Cost |
|---|---|---|---|---|---|
| 1 | RC Car | Amazon.com | Traxxas 37076 Rustler VXL | 1 | $$$.$$ |
| 2 | CAN Transceiver | Anchor & HSC | 15 | $75.00 | |
| 3 | Assembly Components | Amazon & Anchor | PCBs, Mechnical & Electical Components | NA | $90.13 |
| 4 | Power Supply | Pololu | 6V Battery, 5V Regulator | 1 | $34.85 |
| 5 | LCD Display | New Haven | NHD-0216B3Z-FL-GBW-V3-ND | 1 | $$$.$$ |
| 6 | Sonar sensor | Maxbotix | LV-MaxSonar-EZ1 MB1010 | 2 | $66.55 |
| 7 | Sonar sensor | Given by Preet | LV-MaxSonar-EZ1 MB1010 | 1 | Free |
| 8 | IR sensor | Given by Preet | Sharp-GP2Y0A21YK | 1 | Free |
| 9 | Compass Module | Given by Preet | HoneyWell: HMC 6352 | 1 | Free |
| Total Cost | $$$.$$ |
Design & Implementation
Controller Communication Table
| Controller ID | Controller Type |
| 0x01 | Master Controller |
| 0x02 | Motor Controller |
| 0x03 | Sensor Controller |
| 0x04 | Geographical Controller |
| 0x05 | IO Controller |
| 0x06 | Bridge Controller |
| 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 % |
| Byte 0 | Effect |
| 0 | Off |
| 1 | 1Hz |
| 5 | 5Hz |
| 10 | 10Hz |
| 20 | 20Hz |
| 50 | 50Hz |
| Any other value | Invalid date rate |
| Message Number | Purpose | Data layout |
| 0x00 | 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 byte [4] : Back Left sensor value in inches byte [5] : Back Right sensor value in inches |
| 0x01 | Accelerometer Sensor Data |
byte [0] : X axis Value byte [1] : Y axis Value byte [2] : Z axis Value |
| 0x02 | Light Sensor Data |
byte [0] : Light sensor value |
| 0x03 | Battery Status Data |
byte [0] : Battery status value |
| Message Number | Purpose | Data layout |
| 0x00 | Subscribe to GPS data | byte [0] : Subscription rate in Hz (5, 10 acceptable) |
| 0x01 | Subscribe to Compass data | byte [0] : Subscription rate in Hz (5, 10, 20 acceptable) |
| Message Number | Purpose | Data layout |
| 0x00 | Remotely stop the car (remote kill switch) | N/A |
| 0x01 | Response Destination GPS location | bytes [0-3] : latitude (float)
bytes [4-7] : longitude (float) |
| 0x02 | Request Destination GPS location | N/A |
| Message Number | Purpose | Data layout |
| 0x00 | Subscribe to Sensor data | N/A |
Hardware Design
Hardware Interface
Software Design
Implementation
Testing & Technical Challenges
Conclusion
Project Video
Project Source Code
References
Acknowledgement
References Used
http://www.socialledge.com/sjsu/index.php?title=Self-driving_Car
http://www.nxp.com/documents/user_manual/UM10360.pdf
http://www.socialledge.com/sjsu/images/d/de/2012SJOneBoardSchematic.pdf
http://www.maxbotix.com/documents/MB1010_Datasheet.pdf
http://www.sharpsma.com/webfm_send/1208
https://www.sparkfun.com/datasheets/Components/HMC6352.pdf
