From Embedded Systems Learning Academy
Self Driving Car
Abstract
Objective and Scope
Team Members & Responsibilities
- Sensor Controller (2 Members) - [Bailey Wu, Rishabh Sareen]
- Motor Controller (2 Members) - [Abraham Ruiz, Sree Harsha, Arpit Amin]
- I/O Unit (2 Members) - [Yoni Klein, Tejeswar]
- Communication Bridge + Android (3 Members) - [Shaw Ken Chang, Arnold Bajet Jr., Thomas Pantels]
- Geographical Controller (3 Members) - [Himanshu Saini, Divya Kamath]
- Master Controller (3 Members) - [Akash Ayare, Sree Harsha, Karthik Vadiraja]
Introduction
Schedule
Geographical Controller
| Sl. No
|
Start Date
|
End Date
|
Task
|
Status
|
Actual Completion Date
|
| 1
|
1-Oct-2014
|
14-Oct-2014
|
Order Components and Make a schedule
|
Completed
|
14-Oct-2014
|
| 2
|
8-Oct-2014
|
14-Oct-2014
|
Decide commands that Geographical Controller will support
|
Completed
|
14-Oct-2014
|
| 3
|
7-Oct-2014
|
14-Oct-2014
|
Complete CAN RX task and subscription handling. Verify communication with other controllers
|
Completed
|
21-Oct-2014
|
| 4
|
14-Oct-2014
|
24-Oct-2014
|
Interface GPS module and Compass and develop drivers if needed
|
Completed
|
28-Oct-2014
|
| 5
|
24-Oct-2014
|
30-Oct-2014
|
Design and develop algorithm to calculate heading and bearing from GPS coordinates
|
Completed.
|
30-Oct-2014
|
| 6
|
24-Oct-2014
|
5-Nov-2014
|
Work on calibration of compass and heading calculation
|
In Progress
|
|
| 7
|
1-Nov-2014
|
10-Nov-2014
|
Test with the central and Bluetooth controller
|
communication works. Working on steering algorithm in central using geo data
|
|
| 8
|
10-Nov-2014
|
25-Nov-2014
|
Begin testing with fully assembled car
|
In Progress
|
|
| 9
|
25-Nov-2014
|
10-Dec-2014
|
Final Testing and changes as needed
|
|
|
Sensor Controller
| Sl. No
|
Start Date
|
End Date
|
Task
|
Status
|
Actual Completion Date
|
| 1
|
10/3/2014
|
10/10/2014
|
Order ultrasonic sensor parts and develop simple test code for the sensors
|
Done
|
10/10/2014
|
| 2
|
10/10/2014
|
10/17/2014
|
Wire the ultrasonic sensors, develop and implement the sensors using analog to digital converter
|
Done
|
10/17/2014
|
| 3
|
10/17/2014
|
10/24/2014
|
Collaborate with the other sub teams to finish the CAN bus communication and allow the self driving car to drive autonomously
|
Done
|
10/24/2014
|
| 4
|
10/24/2014
|
11/1/2014
|
Develop, implement and test the ultrasonic sensors using the pulse width modulation and universal asynchronous receiver/transmitter
|
Done
|
11/1/2014
|
| 5
|
11/2/2014
|
11/9/2014
|
Develop, implement and test the front and back infrared sensors using analog to digital converter
|
Done
|
11/9/2014
|
| 6
|
11/10/2014
|
11/17/2014
|
Develop, implement and test the current/voltage sensor for the battery packs of the self driving car using I2C
|
Delayed
|
TBD
|
| 7
|
11/18/2014
|
11/25/2014
|
Collaborate with the other sub teams to make sure that the sensors are in working condition
|
Done
|
11/25/2014
|
| 8
|
11/26/2014
|
12/5/2014
|
Collaborate with the other sub teams to debug any problems that may encountered
|
Done
|
12/5/2014
|
| 9
|
12/6/2014
|
12/13/2014
|
Prepare for Demo
|
Scheduled
|
|
IO Controller
| Sl. No
|
Start Date
|
End Date
|
Task
|
Status
|
Actual Completion Date
|
| 1
|
10/7/2014
|
10/14/2014
|
Research and order LCD appropriate for this project
|
Finished
|
10/11/2014
|
| 2
|
10/7/2014
|
10/17/2014
|
Implement CAN RX/Subscription task
|
Finished
|
10/13/2014
|
| 3
|
10/7/2014
|
10/17/2014
|
Finalize Task Architecture
|
In Progress
|
|
| 4
|
10/18/2014
|
10/21/2014
|
Interface and test LCD
|
Finished
|
10/20/2014
|
| 5
|
10/21/2014
|
10/28/2014
|
Implement special button features
|
|
|
| 6
|
10/21/2014
|
10/28/2014
|
Implement auto scrolling feature
|
|
|
| 7
|
10/28/2014
|
11/4/2014
|
Design LCD UI with buttons
|
|
|
Communication Bridge + Android
| Sl. No
|
Start Date
|
End Date
|
Task
|
Status
|
Actual Completion Date
|
| 1
|
16-Sep-2014
|
23-Sep-2014
|
Test bluetooth module using computer serial port and an android app(simple bluetooth terminal app downloaded from google play). Test the real life range and stability of the bluetooth module (HC-06). Modify the bluetooth chat example to work with the bluetooth module.
|
Done
|
20-Sep-2014
|
| 2
|
28-Sep-2014
|
12-Oct-2014
|
Draw UI design layouts for a basic android application that can view Google map as well as send GPS data through bluetooth by clicking on the map. Study google maps API and make a simple app that will post a short toast that shows the GPS location after a long press event.
|
Done
|
12-Oct-2014
|
| 3
|
7-Oct-2014
|
11-Oct-2014
|
Interface bluetooth module with SJSUOne board and able to verify that the connection is stable and that transaction via the bluetooth is accurate. This is done by adding a test button where if you press the button it send a command to the board. After receiving the command, the board should react with a response (LED light and/or text response to the android phone)
|
Done
|
19-Oct-2014
|
| 4
|
11-Oct-2014
|
19-Oct-2014
|
Integrate Google Maps and Bluetooth component together in Android app. After a long press on the map, the user should be prompted to start the car and set the location as the places the user selected. Add a textView to display the location selected by pressing on the map. Add a button for sending location to the car.
|
Done
|
27-Oct-2014
|
| 5
|
19-Oct-2014
|
26-Oct-2014
|
CAN infrastructure implmentation: Use our team's common CAN infrasturcture code and modify it specifically for our controller. First created the CAN communication table and then modify the infracturacture code to implement the broacasting as well as filtering of neccessary data. This only focuses on broadcasting a stop/start command and the destination GPS data (set by android) as well as getting car's current location data from the geological controller.
|
Done
|
07-Nov-2014
|
| 6
|
26-Oct-2014
|
1-Nov-2014
|
Test and implement car information reading as well as other functions of Android app
|
In Progress
|
|
| 7
|
2-Nov-2014
|
4-Nov-2014
|
Iterate UI design
|
In Progress
|
|
| 8
|
5-Nov-2014
|
16-Nov-2014
|
Implement 2nd UI design
|
In Progress
|
|
Motor Controller
| Sl. No
|
Start Date
|
End Date
|
Task
|
Status
|
Actual Completion Date
|
| 1
|
10/1/2014
|
10/8/2014
|
PWM2 (used to control motors) and PWM3 (used to control servo) interface with the car servo and motor. Write a test code to operate the servo and motor from the terminal command.
|
Completed and Tested
|
10/11/2014
|
| 2
|
10/9/2014
|
10/18/2014
|
Design and code CAN receive task for subscription. Check for basic CAN message commands for throttle and steer control.
|
Completed and tested
|
10/26/2014
|
| 3
|
10/19/2014
|
10/28/2014
|
Design the CAN message table for motor control and servo control
|
Completed and tested
|
10/26/2014
|
| 4
|
10/29/2014
|
11/07/2014
|
Design acceleration Vs steer control function for smooth run. Check for other factors involved.
|
Completed and tested
|
11/22/2014
|
| 5
|
11/08/2014
|
11/14/2014
|
Research on RPM sensor. Interface the RPM sensor to calculate the Speed. Test the RPM sensor by running the car at different speed
|
Code completed, but rpm task needs to be tested in the car. Completed and tested with a hall sensor
|
11/22/2014
|
| 6
|
11/15/2014
|
11/21/2014
|
Fine tune motor control code and integrate with all the controllers for proper working.
|
In Progress. Servo is working with the same behavior using the can_rx and terminal task; however, motors needs more testing. Completed and tested
|
11/22/2014
|
| 7
|
11/22/2014
|
11/28/2014
|
Test and check if more features can be added to improve performance. Completed and tested
|
In Progress.
|
|
| 8
|
11/29/2014
|
12/05/2014
|
Final Testing and Debugging before the Demo day
|
Planned
|
|
Central Controller
| Sl. No
|
Start Date
|
End Date
|
Task
|
Status
|
Actual Completion Date
|
| 1
|
16-Sep-2014
|
23-Sep-2014
|
Develop API for CAN bus communication.
|
Done
|
23-Sep-2014
|
| 2
|
11-Oct-2014
|
15-Oct-2014
|
Develop communication table for all controllers.
|
In Progress
|
|
| 3
|
15-Oct-2014
|
20-Oct-2014
|
Broadcast message and target message setup.
|
In Progress
|
|
| 4
|
21-Oct-2014
|
28-Oct-2014
|
Co-ordinate all controllers and take major decisions.
|
Planned
|
|
| 5
|
28-Oct-2014
|
11-Nov-2014
|
Complete Building and fine-tuning of RC car.
|
Planned
|
|
| 6
|
21-Oct-2014
|
11-Nov-2014
|
Develop coordination mechanism to ensure controllers are initialized and ready
|
In Progress
|
|
| 7
|
21-Oct-2014
|
28-Oct-2014
|
Develop kill switch
|
In Progress
|
|
| 8
|
14-Oct-2014
|
21-Oct-2014
|
Build external power distribution circuit
|
Done
|
21-Oct-2014
|
| 9
|
28-Oct-2014
|
04-Nov-2014
|
Coordination algorithm between steering and throttle for smooth turns
|
Planned
|
|
| 10
|
04-Nov-2014
|
11-Nov-2014
|
Collision avoidance and cliff detection algorithms
|
Planned
|
|
| 11
|
04-Nov-2014
|
11-Nov-2014
|
Intermediate unit and functional tests
|
Planned
|
|
| 12
|
21-Oct-2014
|
4-Nov-2014
|
Initialize all boards with GPS-time
|
Planned
|
|
| 13
|
11-Nov-2014
|
25-Nov-2014
|
Functional tests and algorithm adjustments
|
Planned
|
|
| 14
|
25-Nov-2014
|
02-Dec-2014
|
Fine tuning and stretch goals (headlights, parallel parking, etc.)
|
Planned
|
|
| 15
|
02-Dec-2014
|
09-Dec-2014
|
Prepare for demo
|
Planned
|
|
Parts List & Cost
| Qty
|
Description
|
Manufacturer
|
Part Number
|
Total Cost
|
Backup Parts & cost
| Qty
|
Description
|
Manufacturer
|
Part Number
|
Total Cost
|
Design & Implementation
Controller Communication Table
Controller ID Table
| Controller ID
|
Controller
|
| 0x01
|
Master Controller
|
| 0x02
|
Geographical Controller
|
| 0x03
|
Motor Controller
|
| 0x04
|
Sensor Controller
|
| 0x05
|
IO Controller
|
| 0x06
|
Communication (Bluetooth Bridge/Android App) Controller
|
Central Controller Communication Table
| Sl. No
|
Message Number
|
Purpose
|
Data layout
|
| 1
|
0x501
|
Send Throttle and steering to motor
|
throttle
steering
|
| 2
|
0x502
|
Start car
|
|
| 3
|
0x503
|
Stop car
|
|
| 4
|
0x101
|
Broadcast request revision
|
|
| 5
|
0x102
|
Broadcast Set time
|
|
| 6
|
0x103
|
Request TX count (broadcast)
|
|
| 7
|
0x104
|
Request RX count (broadcast)
|
|
| 8
|
0x105
|
Send TX count (LCD)
|
|
| 9
|
0x106
|
Send RX count (LCD)
|
|
| 10
|
0x107
|
All controllers initialize
|
|
Communication (Bluetooth Bridge/Android App) Controller Communication Table
| Sl. No
|
Message Number
|
Purpose
|
Data layout
|
| 1
|
0x301
|
Broadcast Start command
|
|
| 2
|
0x302
|
Broadcast Stop command
|
|
| 3
|
0x303
|
Broadcast GPS destination set by Android
|
byte [0-3] : (float), Longitude
byte [4-7] : (float), Latitude
|
Sensor Controller Communication Table
| Sl. No
|
Message Number
|
Purpose
|
Data layout
|
| 1
|
0x501
|
Broadcast front sensors values
|
byte[0]: Right ultrasonic sensor value in inches
byte[1]: Front ultrasonic sensor value in inches
byte[2]: Left ultrasonic sensor value in inches
byte[3]: Front bottom infrared sensor value in inches
|
| 2
|
0x502
|
Broadcast back infrared sensor value
|
byte[0]: Back infrared sensor value in inches
|
| 3
|
0x503
|
Broadcast battery sensor value
|
byte[0]: current/voltage sensor value in percentage
|
| 4
|
0x504
|
Broadcast light sensor value
|
byte[0]: light sensor value as integer
|
| 5
|
0x505
|
Broadcast tilt sensor value
|
byte[0]: X-Axis tilt sensor value as integer
byte[1]: Y-Axis tilt sensor value as integer
byte[2]: Z-Axis tilt sensor value as integer
|
Motor/Servo Controller Communication Table
| Sl. No
|
Send Code
|
Description
|
Data
|
| 1
|
0x201
|
Heartbeat data
|
Controller id 1 byte
|
| 2
|
0x201
|
Heartbeat data
|
Controller id 1 byte
|
| 3
|
0x201
|
Heartbeat data
|
Controller id 1 byte
|
| 4
|
0x202
|
Mem info data
|
Sys-mem remaining 4bytes
|
| 5
|
0x501
|
RPM data send
|
RPM (2 bytes)
|
| 6
|
0x502
|
Speed data send
|
Speed (2bytes)
|
| Sl. No
|
Receive Code
|
Description
|
Response
|
| 1
|
0x300
|
Kill
|
Receive only
|
| 2
|
0x301
|
Stop
|
Receive only
|
| 3
|
0x302
|
Straight
|
Receive only
|
| 4
|
0x307
|
move forward 25%
|
Receive only
|
| 5
|
0x30C
|
move forward 50%
|
Receive only
|
| 6
|
0x311
|
move forward 75%
|
Receive only
|
| 7
|
0x315
|
move forward 100%
|
Receive only
|
| 8
|
0x31A
|
move backward 25%
|
Receive only
|
| 9
|
0x31F
|
move backward 50%
|
Receive only
|
| 10
|
0x324
|
move backward 75%
|
Receive only
|
| 11
|
0x329
|
move backward 100%
|
Receive only
|
| 12
|
0x334
|
Steer right 25%
|
Receive only
|
| 13
|
0x339
|
Steer right 50%
|
Receive only
|
| 14
|
0x33E
|
Steer right 75%
|
Receive only
|
| 15
|
0x343
|
Steer right 100%
|
Receive only
|
| 16
|
0x348
|
Steer Left 25%
|
Receive only
|
| 17
|
0x34D
|
Steer left 50%
|
Receive only
|
| 18
|
0x352
|
Steer left 75%
|
Receive only
|
| 19
|
0x357
|
Steer left 100%
|
Receive only
|
Io Controller Communication Table
| Sl. No
|
Message Number
|
Purpose
|
Destination
|
| 1
|
0x301
|
Start command for car
|
Central Controller
|
| 2
|
0x302
|
Stop command for car
|
Central Controller
|
| 3
|
0x303
|
Go to a predefined Destination.
|
Central Controller
|
Geographical Controller Communication Table
| Message Number
|
Message Type
|
Purpose
|
Data layout
|
| 0x0301
|
Get Geo Data
|
Request for GPS Data (lat,long)
|
|
| 0x0302
|
"
|
Request for current compass heading and destination heading
|
|
| 0x0304
|
"
|
Request Time
|
|
| 0x0601
|
Response to 0x3xx request
|
GPS Data (lat,long)
|
dword[0] : [32-bit latitude]
dword[1] : [32-bit longitude]
|
| 0x0602
|
"
|
Compass heading and destination bearing
|
dword[0] : [32-bit compass heading]
dword[1] : [32-bit destination bearing]
|
| 0x0504
|
"
|
Time
|
dword[0] : [32-bit time 0x00hhmmss]
|
| 0x0501
|
Periodic Message
|
GPS data, broadcast periodically
|
dword[0] : [32-bit longitude]
dword[1] : [32-bit latitude]
|
| 0x0502
|
"
|
Current and destination heading broadcast periodically
|
dword[0] : [32-bit compass heading]
dword[1] : [32-bit bearing]
|
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/
