1. FREESCALE CUP:Autonomous Race Car Team #4 | CAN.doShalom
Greene Ronald Kaung Myat1
2. Project Intro & Demo 2
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. 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. Modified Product Vision (Cont.)5
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. 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. 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. 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. 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. 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. 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. 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. 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