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Autonomous Driving Car

Made by Infineon Technologies / 3D Printing / Artificial intelligence / Games & Gaming / Robotics / Vehicles

About the project

Curious about autonomous driving, AI and neural networks? Build your own autonomous driving car and get your hands on these topics!

Project info

Difficulty: Moderate

Platforms: Infineon, Raspberry Pi

Estimated time: 1 hour

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

	batterie connector	x 1
	SanDisk Extreme 32 GB microSDHC	x 1
	Raspberry Pi Camera Module	x 1
	Raspberry Pi 3 Model B	x 1
	LiPo 7.4 V 5000 mA	x 1
	Savöx Standard-Servo SC-0254MG Digital-Servo	x 1
	Brushed Motor Carson Modellsport Cup	x 1
	Reely 1:10 Wheels	x 1
	Reely Onroad-Chassis 1:10	x 1
	Infineon DC Motor Control Shield with BTN8982TA	x 1
	Infineon Boot Kit XMC1100 (Arduino shield compatible)	x 1

View all

Software apps and online services

	Crimp Tool, Heavy-Duty
	Multitool, Screwdriver
	donkey car

Hand tools and fabrication machines

	3D Printer (generic) double extruder	x 1
	Soldering iron (generic)	x 1

Story

This RC car is equipped with a camera, a Raspberry Pi, an XMC1100 Boot Kit and the DC Motor Control Shield with BTN8982TA. Based on the Donkey Car project, the Raspberry Pi is able to safe image-, throttle- and steering data which will be processed to train a neuronal network. The trained network will be placed on the Raspberry to drive the car autonomously.

The DC motor and steering-servo are controlled via the XMC1100 Boot Kit. The Software is developed in the Arduino IDE and can be found below. It is programmed to imitate the PWM shield used within the Donkey Car project. Therefore you don’t have to change the Donkey Car software on the Raspberry Pi. The DC Motor Control Shield with BTN8982TA makes it easy to control the DC motor. You can find the library to do so on our GitHub page and adapt the motor control to your needs.

You dare to build one? Find detailed instructions HERE.

Schematics, diagrams and documents

System block diagram

CAD, enclosures and custom parts

20180706_Basisplatte_1

Baseplate

Go to download

20180323_Magnet_roll_Cage_IFX

roll cage - also a good handle to pick it up

Go to download

20180323_Cameramount_M2

camera mount

Go to download

Code

XMC1100 code

This code runs on the XMC1100 Boot Kit.It emulates the PWM shield used in the donkey car project and is therefore a plug and play solution.The Raspberry Pi sends throttle and steering data via I2C. The XMC takes care of setting these values via PWM (servo) and motor control signals (BTN8982 Motor Shield).

#include <IfxMotorControlShield.h> // servo pin int servo = 8; // variables for servo control int pwm; int Servo_pos = 0; int Servo_pos_aktuell; // serial communication String inString = ""; int neg; //variables for motor control int speedvalue = 0; int speedvalue_aktuell; int speedflag = false; void servoMove(int servo, int Servo_pos){ pwm = (Servo_pos) + 1500; digitalWrite(servo, HIGH); delayMicroseconds(pwm); digitalWrite(servo, LOW); } //i2c communication int on1; int off1; int on0; int off0; int r; //register int x; //value int received; #include <Wire.h> void setup() { //communications Wire.begin(64); // join i2c bus with address #8 Wire.onReceive(receiveEvent); // register event Wire.onRequest(requestEvent); // register event Serial.begin(115200); // start serial for output delay(10); //servo pinMode(servo, OUTPUT); servoMove(servo, Servo_pos); //motor if(ifxMcsBiDirectionalMotor.begin()) Serial.println("Init Fail!"); Serial.println("Initialising speed"); ifxMcsBiDirectionalMotor.setBiDirectionalSpeed(speedvalue); Serial.println("Starting motor"); ifxMcsBiDirectionalMotor.start(); Serial.println("Setup Done"); } void loop() { if(received == 0) { Serial.println("fail!"); } //servo if(abs(Servo_pos_aktuell - Servo_pos)<200){ servoMove(servo, Servo_pos); } Servo_pos_aktuell = Servo_pos; //motor if(abs(speedvalue_aktuell - speedvalue)<200){ ifxMcsBiDirectionalMotor.setBiDirectionalSpeed(speedvalue*0.4); //if speed was set to 0, the motor has to be restarted! if(!ifxMcsBiDirectionalMotor.getRunning()) ifxMcsBiDirectionalMotor.start(); } speedvalue_aktuell = speedvalue; delay(50); } // function that executes whenever data is requested by master // this function is registered as an event, see setup() void requestEvent() { Wire.write(0x01); // respond with 0x01 as expected by master Serial.println("0x01"); } // function that executes whenever data is received from master // this function is registered as an event, see setup() void receiveEvent(int howMany) { if(howMany == 2){ received = true; } else{ received = false; } // read while (1 < Wire.available()) { // loop through first of two bytes r = Wire.read(); // receive register byte } x = Wire.read(); // receive Value byte as an integer //process switch (r) { case 8: off0 = x; speedflag = true; break; case 9: if (speedflag == true) { off0 = off0+(x<<8); speedvalue = off0-255; speedflag = false; } break; case 12: off1 = x; break; case 13: off1 = off1+(x<<8); Servo_pos = off1-600; break; } }

Credits

Infineon Technologies

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Autonomous Driving Car

About the project

Project info