1. 1. FREESCALE CUP:Autonomous Race Car Team #4 | CAN.doShalom Greene Ronald Kaung Myat1
2. 2. Project Intro & Demo 2
3. 3. Original Product Vision Autonomous light control system for cars A plug-in system for vehicles to allow for automatic turnsignaling and head light activation for low ambient conditions. Was to include:Light sensorsCommunication with GPSAccess to a cars Control Area Network (CAN) for light controlling3
4. 4. Modified Product Vision Create an autonomous race carAbility to race along any course provided clear start/stop conditions and a continuous black guide strip.Implement autonomous features on a small scale, which can be scaled to full model functionality.Autonomous features were to include automatic lighting depending on ambient conditions, as well as for turn signaling Turning based on camera/sensor input4
5. 5. Modified Product Vision (Cont.)5
6. 6. Differentiation between our Two Visions Our original product vision presented an issue for testingconditions so we decided to go with a small scalerepresentation as a proof of concept. Then, we discovered the Freescale Cup and decided to pursuethat instead We wanted to be able to use the light automation in ourmodified product vision as to not completely lose sight of theoriginal vision No CAN used in the modified design No need for GPS 6
7. 7. Final Product(for now) Autonomous Car that races a track given a line to scanUses a line scan camera to interface with a servo motor & dual propulsion DC motors to provide proportional response to input Unfortunately, we did not include any of the lighting featuresoutlined in our product vision. However, it is intended forfurther design work.7
8. 8. Project Management Methodologies Traditional project management Initiation Defining project scope Planning Assign tasks & completion dates Execution Assembling car & developing code Monitoring Adapting to road blocks & coming up with solutions Completion Finalizing project Project management tools & software Microsoft Project Jira Confluence8
9. 9. Roadblocks Line Scan Camera Camera timing Ambient Lighting Camera Mount Figuring out mount design adequate for car base Matching 3D-Design specification for 3D printer KiwkStik K40 Debug interface is slow Motor Control board Synching multiple grounds 7.2 voltage supply to 5V input microcontroller 9
10. 10. What did we learn? Project management skills & tools Format of specification documents Assemble an RC car CodeWarrior for programming on the KwikStik K40 Establish communication and functionality of the various carcomponents Develop a control loop for camera input, steering, and motorspeed 3D-Design for prototyping 10
11. 11. Opinion on the Project Felt the Project was something new and something we had notdone in the past Considering there is a competition at the end gives us moreincentive to work diligently on the project Stressful at times to manage the project with work and otherclasses Overall it was a good learning experience and we enjoyed it 11
12. 12. Future Work Better definition of control loop constantsOverall optimization of the control loop algorithm Incorporation of LEDs and light detection for controlledillumination (original product vision)LEDs for turn signalingLogic for turning on lights when ambient lighting is too low Incorporation of a calibration algorithm Addition of secondary camera or IR sensors for interpolation ofnear and look-ahead conditions Enhancement of mount positions and wiring12
13. 13. If we have to do it again Document as we progressed with each task Spend more time initially figuring out debug methods Refine aspects of project managementMore frequently update online management tools (Jira/Confluence) Make more use of peer resources 13
14. 14. Tips for incoming students Get an overall view of all tasks before getting to the executionphase is importantUse the project management tools and document along the way Research, Research, & Research Be diligent when wiring and soldering Utilize your resources (class mates, people working on similarprojects, web forums, Prof. Mondragon) 14
15. 15. Questions? 15
16. 16. Thank You! 16