Project Timeline - LJoswig/SUZUKI_JIMNY_AUTONOMOUS_GRAMM_JOSWIG GitHub Wiki

To-Do-Now

Reminders:

  • Arina/Robi about GARMIN Map from Dinokeng, Winter and Summer
  • Ask in Group if apart from Jelco anyone else had worked on Object detection, because came up in presentation
  • Connectors and stuff in google sheet
  • Model number of Jetson send to Johan + remind him of second orin?
  • Remind Johan to send Details of specific LiDAR + there was something with keyword Lightware -> potentially interesting for emergency stop in autonomous road following if something is in the road

Priority:

  • Centerline extraction + filter for real-time driving
  • Second emergency button via Herelink controller
  • Start Jetson perfomance analysis documentation
  • Software task: Steering saftey behaviour: if steering signal lost -> 100% brake and steering restart
  • play with camera angle (priority because talked about it twice and is quick) -> cut out sky for improved driving
  • Concept for data capture during fence patrol, Johan can provide ZED with USB connection + Raspi5 + SD add-on for Raspi

Side Tasks:

  • (Waiting on connectors and cables) Improve loose connection steering + buy new wire clips -> test drive
  • Troubleshooting clarify: USB0<->USB1 Code<->sudo dmsg -w, CSV file, Terminal Notes (Lisa)
  • Global localisation plots code on GitHub
  • Look into Stereolabs camera ZED X projects
  • 3D print to make antennas on roof in 45 degree angle -> look at orangecube docu first if this is actually the case
  • Fix brake actuator: stepper motor moves in wrong direction
  • Better 3d mount on stepper motor for cable routing when moving brake pedal
  • 3d print for camera mount

Alltime:

  • Keep up with/Update Project Goals and Project Roadmap and Diary
  • Organised repo with acutal important/working code, add .ino Code
  • Bring together documentation

Project Goals

  • GitHub repo โŠ‡ organised source code, wiki documentation, wiring diagram, reults, future work
  • Reliable RC Control โŠ‡ hardware and software fixes
  • Hardware concept โŠ‡ dust protection, vibration damping
  • Camera Integration โŠ‡ data capture
  • Perception โŠ‡ road detection using 2-stage concept (object detection + segmentation), centerline extraction, evaluate Jetson performance
  • Actuator reaction โŠ‡ steering + longitudinal control algorithms, integration into exisitng vehicle control system,
  • Navgation โŠ‡ Nav2 concept integrating localisation, path planning, costmaps, with support for future sensor integration

=> Autonomous Driving with RC override

Project Roadmap

Weekly @Friday

Week 14-20/09/26

  • Review technical documentation
  • Start GitHub repository and wiring diagram
  • Repair wiring and hardware
  • Set up system, SSH and ROS2 nodes
  • Establish reliable RC control
  • Define project goals

Week 21-27/09/26 *Troubleshooting RC control

Week 28/09-04/10/26

  • Re-establish and familiarize with RC control
  • Vibration and dust-proofing concept
  • Integration of Vibration and dust-proofing

Week 05-11/10/26

  • Mount and connect camera
  • evaluate existing image processing and road detection
  • select processing hardware
  • Concept for perception-control architecture
  • Define image-processing output for vehicle control (msg definition)

Week 12-18/10/26

  • film roads while driving manually/rc-controlled
  • Implement camera nodes and data output
  • Implement road detection
  • Test road detection with live camera data (without acutuation access)

Week 19-25/10/26

  • Integrate perception output into vehicle control
  • Generate autonomous steering, throttle and braking commands from perception data
  • Test autonomous road following at low speed on a simple dirt road
  • (Evaluate rover restoration for testing)

Week 26/10-01/11/26

  • First draft for navigation architecture
  • Evaluate map options for global path planning
  • choose path planning algorithm -> what is there from autopilot?
  • draft sensor integration

Week 02-08/11/26

  • Implementation of path planning
  • Debugging and Troubleshooting

Week 09-15/11/26

  • Final system testing

Week 16-20/11/26

  • Finalize GitHub repository โŠ‡ code, documentation, results, future work

Diary

Week 14-20/09 Overview System Architecture

  • Cable plan and understand hardware
  • repair cabling
  • understand software
  • establish ssh connection
  • Software from Herelink RC up until ROS-Nodes established (Herelink -> Cubepilot -> Jetson)
  • Witnessed brake initialization problems

Week 21-27/09 Electronics Debugging

  • investigate Arduino messages, reflash all of them after suspicious messages (different baud rate)
  • used Arduino IDE with Serial Monitor to test steering and brake independently of the rest of the system -> steering reacts to RC input
  • Understand brake initialization problems -> try to not touch brake during homing, otherwise restart braking system
  • Understood warmup behavior of car (rpm goes up to 2000-3000 for some seconds during first engine start of the car, let it calm down with brakes active)
  • Ruled out Problems to AxelBrake its CAN Communication
  • Checked individual hardware components for functionality (arduinos and CAN Modules), understood PCB layouts for better interpretation of LED behaviour
  • Used Logic Analyzer to directly read CAN messages -> Sterfboard is in Emergency because there is no heartbeat from AxelBrake

Week 28/09-04/10 RC Control Victory

  • Used small test scripts to check individual functions of arduino and CAN Module on AxelBrake -> found out CAN Module is broken in a sense where it received messages but could not send them
  • Changed CAN Module which resulted in RC controllable car
  • Documentation of Troubleshooting up to this point
  • repaired brake + understood it further -> future todo maybe change motor adapter to an excenter or something else
  • made box for electronics on left side incl. vibration proofing

Week 05-11/10

  • reliable RC control, understood steering troubleshooting, made steering more reliable/stable, understood brake troubleshooting
  • finished mount for cable box
  • Vehicle Operation + Troubleshooting wiki
  • Vibration damping concept + emergency button mount
  • Practice RC control
  • fixed 420 Steering Target Degree error
  • setup jetson git

Week 12-18/10

  • Test drive out of the base (road segmentation, RC)
  • Prepare presentation at 15.10.26
  • Jelco video call at 14.10.26 (read report, prepare questions)
  • Seal cables in roof
  • Look into what is done with camera + first camera integration + check whether camera captures data
  • Jetson, battery and transformer mounting
  • Push Jelcoโ€™s code from the Jetson to our GitHub repository
  • Global localisation with ZED camera + external GPS module + ZED SDK -> real-time display of trajectory on map, analyse and plot recorded GPS data

Week 19-25/10

Week 26/10-1/11

Week 02-08/11

Week 09-15/11

Week 16-22/11