The document describes the evolution of a student project to create an autonomous vehicle. The original vision was to create a light control system for cars, but this was modified to build an autonomous race car that could follow a black guide strip. Key steps included planning, executing tasks like assembling the car and developing code, and overcoming roadblocks. Lessons learned included project management skills, interfacing components, and developing control loops. Future work could enhance the control algorithm and add features like automated lighting as originally intended.

1. FREESCALE CUP:
Autonomous Race Car
Team #4 | CAN.do
Shalom Greene
Ronald Kaung Myat
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2. Project Intro & Demo
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3. Original Product Vision
 Autonomous light control system for cars
 A plug-in system for vehicles to allow for automatic turn
signaling and head light activation for low ambient conditions.
 Was to include:
Light sensors
Communication with GPS
Access to a car’s Control Area Network (CAN) for light controlling
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4. Modified Product Vision
 Create an autonomous race car
Ability 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 input
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5. Modified Product Vision (Cont.)
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6. Differentiation between our Two Visions
 Our original product vision presented an issue for testing
conditions so we decided to go with a small scale
representation as a proof of concept.
 Then, we discovered the Freescale Cup and decided to pursue
that instead
 We wanted to be able to use the light automation in our
modified product vision as to not completely lose sight of the
original vision
 No CAN used in the modified design
 No need for GPS
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7. Final Product…(for now)
 Autonomous Car that races a track given a line to scan
Uses 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 features
outlined in our product vision. However, it is intended for
further design work.
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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
Confluence
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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
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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 car
components
 Develop a control loop for camera input, steering, and motor
speed
 3D-Design for prototyping
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11. Opinion on the Project
 Felt the Project was something new and something we had not
done in the past
 Considering there is a competition at the end gives us more
incentive to work diligently on the project
 Stressful at times to manage the project with work and other
classes
 Overall it was a good learning experience and we enjoyed it
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12. Future Work
 Better definition of control loop constants
Overall optimization of the control loop algorithm
 Incorporation of LEDs and light detection for controlled
illumination (original product vision)
LEDs for turn signaling
Logic for turning on lights when ambient lighting is too low
 Incorporation of a calibration algorithm
 Addition of secondary camera or IR sensors for interpolation of
near and look-ahead conditions
 Enhancement of mount positions and wiring
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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 management
More frequently update online management tools
(Jira/Confluence)
 Make more use of peer resources
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14. Tips for incoming students
 Get an overall view of all tasks before getting to the execution
phase is important
Use 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 similar
projects, web forums, Prof. Mondragon)
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15. Questions?
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16.  
Thank You!
 
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