The initial motivation of this project is to prototype an autonomous driving model with basic functionalities. It also known as self-driving cars, are one of the dramatic innovations in auto industry. Prototyping can help to evaluate and test the designs, including hardware and software. As a student of Electronic and Control systems, we want to apply what I have learned on such an important process. After doing some literature research on it, we found the key point of Autonomous vehicles is to let the vehicles be aware of the surrounding area, and it is realized by two technology: computer vision and sensor Technology fusion. Among the sensors used by the vehicles, lidar is used most. Therefore, my second motivation is to apply low cost lidar for path mapping. SLAM is the algorithm widely used to localize the vehicles with the given sensor data. SLAM can help the robot to know where they are in the world. SLAM can also work properly even without IMU and GPS. Hence, another motivation...
A real‐time environment based on one or more Nucleo Boards from STM and the NetSHIELD Board from Hilscher will be established in laboratory conditions. The Nucleo Board controls various analog and digital sensors and actuators as well as motors. The Nucleo Board(s) is/are connected to the Hilscher NetSHIELD via SPI and form the slave together with it. A Raspberry Pi, for example, can be used as the master. The master communicates with the slave via fieldbus i.e. EtherCAT protocol and the coexistence of it on one system is also to be tested. The master also makes it possible to visualize process and simulate device that are not (yet) physically present (virtual sensors/actuators). The development is done with the development tools Codesys and embedded C. Block Diagram Description: Sensors and other field devices are connected to STM32 Nucleo development board. Our goal is to establish Realtime Master-Slave communication channel on fieldbus protocol. Integrated visualization availa...