Objective:
The objective was to design and implement the vehicle control algorithms such that vehicle was able to maintain a distance of 30cm from any object placed ahead of it. It was also required to stop the vehicle 30cm away from a stationary obstacle placed ahead of it. The second was to maintain a distance of 40cm from the side wall and remain in the center of the defined lane.
For this activity, an initial sub-task of implementing sensor signal processing was accomplished, and then the task of developing ADAS algorithms for the F1/10th car were undertaken.
1a. Sensor fusion with digital filtering
Implementation details can be found here
1b. Ultrasonic sensor-based Localization system
Implementation details can be found here
Implementation details can be found here
For ACC
- Sampling the time data received from the sensor
- Implementing Exponential Filter
- PID Implementation
- PWM Implementation
For Lane Keeping
- Sampling the time data received from the sensor
- Implementing Exponential Filter
- PID Implementation
