Difference between revisions of "F14: Team4-Self Driving Car - AUG"
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|10/12/2014 | |10/12/2014 | ||
|10/25/2014 | |10/25/2014 | ||
− | |Raw GUI for app and setup CAN tasks for | + | |Raw GUI for app and setup CAN tasks for Start and Stop commands |
|In Progress | |In Progress | ||
|10/25/2014 | |10/25/2014 | ||
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|10/26/2014 | |10/26/2014 | ||
|11/01/2014 | |11/01/2014 | ||
− | | | + | |Integration with GEO module and queue for each subscribed service |
|Scheduled | |Scheduled | ||
− | | | + | |TBD |
|- | |- | ||
|- | |- | ||
|6 | |6 | ||
|11/02/2014 | |11/02/2014 | ||
− | |11/ | + | |11/09/2014 |
− | | | + | |Incorporate all essential services into Android app and test for response |
|Scheduled | |Scheduled | ||
− | | | + | |TBD |
|- | |- | ||
|- | |- | ||
|7 | |7 | ||
− | |11/ | + | |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 | |12/09/2014 | ||
− | |Final | + | |Final Testing and verification of all components on the main field |
|Scheduled | |Scheduled | ||
− | | | + | |TBD |
|} | |} |
Revision as of 07:33, 28 October 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 | Ongoing | YTD |
5 | 10/26/2014 | 11/01/2014 | Place all the sensors on car and test for obstacle avoidance | Scheduled | YTD |
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 | Scheduled | YTD |
7 | 10/26/2014 | 11/01/2014 | Interface encoder and calculate the actual speed at which car is running | Scheduled | YTD |
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 | In Progress | 10/22/2014 |
5 | 10/26/2014 | 11/01/2014 | Develop hardware and code for automatic headlight control, battery health indication | Scheduled | 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 | In Progress | 10/25/2014 |
5 | 10/26/2014 | 11/01/2014 | Integration with GEO module and queue for each subscribed service | Scheduled | 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 | nterface 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 | In-Progress | TBD |
8 | 10/19/2014 | 10/26/2014 | Combining UART and GPS parsing. Create task for GPS | Scheduled | TBD |
9 | 10/19/2014 | 10/26/2014 | Combining compass calibration and i2c interface. Create task for Compass | Scheduled | TBD |
10 | 10/26/2014 | 11/02/2014 | Final CAN subscription and Implementation of CAN communication with other modules | Scheduled | TBD |
11 | 11/02/2014 | 12/09/2014 | Testing and debugging on car | 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 | In-Progress | TBD |
3 | 09/21/2014 | 09/27/2014 | Deciding MSG id's for all devices | In-Progress | TBD |
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 | On-going | TBD |
8 | 10/19/2014 | 11/1/2014 | Algorithm for obstacle avoidance | Scheduled | TBD |
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
Incoming Messages | Outgoing Messages | |||||||
---|---|---|---|---|---|---|---|---|
Sl. No | Message ID | Message Description | Message Data | Message ID | Message Description | Message Data | ||
Master | ||||||||
1 | 0x090 | Heartbeat Response / Acknowledgement | N/A | N/A | N/A | N/A | ||
2 | 0x116 | Power On/Off Command | On/Off byte | N/A | N/A | N/A | ||
3 | 0x117 | Power On/Off Command | On/Off Byte | N/A | N/A | N/A | ||
4 | 0x213 | Front/Read Sensor Data | Sensor Data | N/A | N/A | N/A | ||
5 | 0x294 | Current Location & Direction of Car | Location Co-ordinates, Orientation, Direction for Motor | N/A | N/A | N/A | ||
6 | 0x316 | Next Checkpoint | Co-ordinates of Next Location | N/A | N/A | N/A | ||
7 | 0x3D3 | Other Sensor Data | Light & Tilt Sensor Data | N/A | N/A | N/A | ||
8 | 0x411 | Encoder Data | Speed Sensor Data | N/A | N/A | N/A | ||
9 | N/A | N/A | N/A | 0x14A | Motor Speed & Direction | Motor Speed and Angle | ||
10 | N/A | N/A | N/A | 0x372 | Current Location of Car from GPS | Location | ||
11 | N/A | N/A | N/A | 0x3B2 | Sensor Value and Status | Sensor Readings | ||
12 | N/A | N/A | N/A | 0x3BA | Sensor Value and Status | Sensor Readings | ||
Motor | ||||||||
13 | 0x14A | Motor Speed & Direction | Motor Speed & Angle | N/A | N/A | N/A | ||
14 | 0x44A | Subscription Message from Master | N/A | 0x411 | Speed Sensor Data | Speed Sensor Data | ||
15 | 0x44B | Subscription Message from I/O | N/A | 0x419 | Motor Speed & Direction | Motor Speed and Angle | ||
16 | 0x44E | Subscription Message from Android | N/A | 0x431 | Motor Speed & Direction | Motor Speed and Angle | ||
Sensor | ||||||||
17 | 0x19A | Subscription Message from Master for Front Sensor | N/A | 0x213 | Sensor Data | Front Sensor Data | ||
18 | 0x1DA | Subscription Message from Master for Rear Sensor | N/A | 0x213 | Sensor Data | Rear Sensor Data | ||
GEO | ||||||||
19 | 0x322 | Message to send Next Checkpoint | N/A | 0x316 | Next Checkpoint | Co-ordinates of Next Checkpoint | ||
20 | 0x462 | Subscription Message from Master | N/A | 0x294 | Current Location & Direction | Co-ordinates, Orientation & Direction | ||
Communication Bridge + Android | ||||||||
21 | 0x2F2 | Message to send intermediate checkpoints | N/A | 0x316 | Next Checkpoint | Co-ordinates of Next Checkpoint | ||
22 | 0x372 | Current Location of car from GPS | Co-ordinates of Current Location | N/A | N/A | N/A | ||
23 | 0x3B2 | Sensor Value & Status | Sensor Reading & Status of each Module | N/A | N/A | N/A | ||
I/O | ||||||||
24 | 0x3BA | Sensor Value & Status | Sensor Reading & Status of each Module | N/A | N/A | N/A |
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/