F14: Team4-Self Driving Car - AUG

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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 Completed 11/04/2014
7 11/15/2014 12/09/2014 Final testing and debugging Ongoing 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 Completed 11/04/2014
9 11/09/2014 12/09/2014 Final testing and debugging Ongoing 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. Completed 11/01/2014
6 11/02/2014 11/14/2014 Build hardware for switches and write interrupt handlers for the same Ongoing 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 11/09/2014 Integration with GEO module and queue for each subscribed service Ongoing TBD
6 11/10/2014 11/16/2014 Incorporate all essential services into Android app and test for response Scheduled TBD
7 11/16/2014 11/23/2014 Final setup and changes for all the CAN tasks along with XBee interfacing Scheduled TBD
8 11/24/2014 12/01/2014 Testing with GEO module with real-time co-ordinates and plotting way points onto Maps Scheduled TBD
9 12/02/2014 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

Master Controller Communication Table
Message Number Message Name (MSG_FUNCTION) Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
0x000 POWERUP_SYN
NO DATA
0x000 POWERUP_ACK
Msg1 : byte[1]   : (uint8_t)  version
Msg1 : byte[2-3] : (uint16_t) year
Msg1 : byte[4]   : (uint8_t)  month
Msg1 : byte[5]   : (uint8_t)  date
Msg1 : byte[6]   : (uint8_t)  dayofweek
Msg1 : byte[7]   : (uint8_t)  hour
Msg2 : byte[1]   : (uint8_t)  minute
Msg2 : byte[2]   : (uint8_t)  second
0x000 HEARTBEAT
Msg1 : byte[1-2] : (uint16_t) rx_count
Msg1 : byte[3-4] : (uint16_t) rx_bytes
Msg1 : byte[5-6] : (uint16_t) tx_count
Msg1 : byte[7]   : (uint16_t) tx_bytes
Msg2 : byte[1]   : (uint16_t) tx_bytes
0x000 SPEED_DIR_COMMAND
Msg1 : byte[1]   : (uint8_t)  speed
Msg1 : byte[2]   : (uint8_t)  turn
Msg1 : byte[3]   : (uint8_t)  direction
Motor Controller Communication Table
Message Number Message Name (MSG_FUNCTION) Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
0x000 POWERUP_SYN_ACK
Msg1 : byte[1]   : (uint8_t)  version
0x000 HEARTBEAT_ACK
Msg1 : byte[1-2] : (uint16_t) rx_count
Msg1 : byte[3-4] : (uint16_t) rx_bytes
Msg1 : byte[5-6] : (uint16_t) tx_count
Msg1 : byte[7]   : (uint16_t) tx_bytes
Msg2 : byte[1]   : (uint16_t) tx_bytes
0x000 SPEED_ENCODER_DATA
Msg1 : byte[1]   : (uint8_t)  speed
Msg1 : byte[2]   : (uint8_t)  dir
Msg1 : byte[3]   : (uint8_t)  brake
GEO Controller Communication Table
Message Number Message Name (MSG_FUNCTION) Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
0x000 POWERUP_SYN_ACK
Msg1 : byte[1]   : (uint8_t)  version
0x000 HEARTBEAT_ACK
Msg1 : byte[1-2] : (uint16_t) rx_count
Msg1 : byte[3-4] : (uint16_t) rx_bytes
Msg1 : byte[5-6] : (uint16_t) tx_count
Msg1 : byte[7]   : (uint16_t) tx_bytes
Msg2 : byte[1]   : (uint16_t) tx_bytes
0x000 GEO_DATA
Msg1 : byte[1-4] : (float)    latitude
Msg1 : byte[5-7] : (float)    longitude
Msg2 : byte[1]   : (float)    longitude
Msg2 : byte[2-3] : (uint16_t) dist_to_final_destination
Msg2 : byte[4-5] : (uint16_t) dist_to_next_checkpoint
Msg2 : byte[6]   : (uint8_t)  current_angle
Msg2 : byte[7]   : (uint8_t)  desired_angle
Msg3 : byte[1]   : (uint8_t)  is_valid
0x000 CHECKPOINT_REQUEST
Msg1 : byte[1]   : (uint8_t)  checkpoint_num
Communication Bridge + Android Controller Communication Table ==
Message Number Message Name (MSG_FUNCTION) Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
0x000 POWERUP_SYN_ACK
Msg1 : byte[1]   : (uint8_t)  version
0x000 HEARTBEAT_ACK
Msg1 : byte[1-2] : (uint16_t) rx_count
Msg1 : byte[3-4] : (uint16_t) rx_bytes
Msg1 : byte[5-6] : (uint16_t) tx_count
Msg1 : byte[7]   : (uint16_t) tx_bytes
Msg2 : byte[1]   : (uint16_t) tx_bytes
0x000 CAR_PAUSE
NO DATA
0x000 CAR_RESUME
NO DATA
0x156 CHECKPOINT_DATA
Msg1 : byte[1-4] : (float)    latitude
Msg1 : byte[5-7] : (float)    longitude
Msg2 : byte[1]   : (float)    longitude
Msg2 : byte[2-3] : (uint16_t) total_distance
Msg2 : byte[4]   : (uint8_t)  checkpoint_num
Msg2 : byte[5]   : (uint8_t)  is_new_route
Msg2 : byte[6]   : (uint8_t)  is_final_checkpoint
0x000 DRIVE_MODE
Msg1 : byte[1]   : (uint8_t)  mode
0x000 FREE_RUN_DIR
Msg1 : byte[1]   : (uint8_t)  speed
Msg1 : byte[2]   : (uint8_t)  turn
Msg1 : byte[3]   : (uint8_t)  direction
Sensor Controller Communication Table
Message Number Message Name (MSG_FUNCTION) Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
0x000 POWERUP_SYN_ACK
Msg1 : byte[1]   : (uint8_t)  version
0x000 HEARTBEAT_ACK
Msg1 : byte[1-2] : (uint16_t) rx_count
Msg1 : byte[3-4] : (uint16_t) rx_bytes
Msg1 : byte[5-6] : (uint16_t) tx_count
Msg1 : byte[7]   : (uint16_t) tx_bytes
Msg2 : byte[1]   : (uint16_t) tx_bytes
0x000 DIST_SENSOR_DATA
Msg1 : byte[1]   : (uint8t)   left
Msg1 : byte[2]   : (uint8t)   middle
Msg1 : byte[3]   : (uint8t)   right
Msg1 : byte[4]   : (uint8t)   back
0x000 OTHER_SENSOR_DATA
Msg1 : byte[1]   : (uint8t)   battery
Msg1 : byte[2]   : (uint8t)   light
I/O Controller Communication Table
Message Number Message Name (MSG_FUNCTION) Data Layout of Data Sent over CAN (byte[0] = total number of data bytes)
0x000 POWERUP_SYN_ACK
Msg1 : byte[1]   : (uint8_t) version
0x000 HEARTBEAT_ACK
Msg1 : byte[1-2] : (uint16_t) rx_count
Msg1 : byte[3-4] : (uint16_t) rx_bytes
Msg1 : byte[5-6] : (uint16_t) tx_count
Msg1 : byte[7]   : (uint16_t) tx_bytes
Msg2 : byte[1]   : (uint16_t) tx_bytes
0x000 CAR_PAUSE
NO DATA
0x000 CAR_RESUME
NO DATA
0x000 DRIVE_MODE
Msg1 : byte[1]   : (uint8_t)  mode

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

  1. Preetpal Kang, Lecture notes of CMPE 243, Computer Engineering, Charles W. Davidson College of Engineering, San Jose State University, Aug-Dec 2014.
  2. en.wikipedia.org/