Android Car: Automatic Park and Retrieve Assist System with Remote Start, Remote Drive, Remote Alert and Remote Door Control Technology based on RTOS and Android Smartphone

Agenda

Aim

Block Diagram

Working

FreeRTOS

GPS

Four Wheel Robot

6 DOF Digital MEMS Geo-

Magnetic Module

6 DOF Digital MEMS Geo-

Magnetic Module

DC Servo Motor

Graphics LCD

Four Wheel Robot

Project Advantage

Software Used

Abbreviations

Aim

• The project also aims to design a driverless car that could be started and

driven remotely from an android Smartphone. This will give the user an

additional facility, particularly while retrieving. Instead of making the car to

come out to a fixed place, the user can now remotely start his car, drive it out

of the parking space and make it come to his present location irrespective of

where he/she is available. Remote door control is another feature that helps

the user to open the car door for him when it reaches him. Remote alert is

automatically activated as long as the car is parked.

Block DiagramGraphics LCD

Dashboard Push Button

SONAR

SONAR

Steering Wheel Servo

Motor

SONAR

SONARQuad DC Motor

High Current Driver

Alarm Buzzer

MEMS Accelerometer

Android Smartphon

e

Bluetooth Transceiver

Door Servo Motor

GPIO

GPIO

GPIO

GPIO

GPIO

GPIO

GPIO

I2C

UART - 1

GPIO

GPIO

PIC

Working• The car is equipped with 3-axis motion sensor. As soon as the car senses an

abnormal motion, the car measures the amount of motion and if it is a gentler one, a simple warning alarm is generated and if the motion is violent it triggers much louder warning alarm and sends an alert SMS to the user mobile.

• To activate the park assist simply press a button either on the dashboard or on your Smartphone. A special android APP running on your Android Smartphone makes this possible. One push of the button is all it takes. The car drives it into parking spaces. To stop the maneuver, press another push button on your Smartphone. A similar interface is available for retrieve mode too.

• All the communication between android Smartphone and the car happens via Bluetooth. The car unit will be paired with the Smartphone via Bluetooth, which helps to remove most of the security issues. The project will be demonstrated on a smaller robotic vehicle.

• A multitasking RTOS running on the microcontroller is used to coordinate each task of the system. FreeRTOS is selected because it is open source, extremely efficient and widely supported.

FreeRTOS

• FreeRTOS is professional grade, license free, robust, open Source Real-Time Kernel

• Supports Mutex, Semaphores, Queues and Co-routines.

• Configured for both Pre-emptive and Co-operative schedulers

• FreeRTOSv7.0 is used

• Ported to Cortex-M3 (LPC1000)

• Works with LPCXpresso toolchain

• Takes less than 4KB flash memory

PIC MICROCONTROLLER

• 8 bit Microcontroller• 20 MHZ Speed• Memory 256 bytes• 5 I/O PORTS• 35 Instructions

6-DOF Digital MEMS Geo-Magnetic Module

Provides tilt compensated direction information 3-axis accelerometer + 3-axis magnetometer SOM (System On Module) Digital Sensor Interface using I2C Protocol

DC Servo Motor

• Used for position and speed control

• Operated with PWM pulses @ 50Hz

• Dutycyle variation controls the desired parameter

• Operates with low current, ideal for battery powered applications

Graphics LCD

• Uses PCD8544 low power, CMOS LCD controller

• Originally designed for Nokia 5110

• Interfaced via SPI Protocol

• 48 rows and 84 columns

Four Wheel Robot

• Differential drive wheels

• L293D high current motor driver

• High torque DC motors

• 6V / 12V operation

• Supports upto 1Amp peak current

• Strong Chassis to carry loads

Project Advantages

• Allow the user to auto retrieve the vehicle, which is not available even in high end cars/vehicles.

• Outdoor control using Smartphone saves the user time. The user need not be in the vicinity once he pushes the park button on the Smartphone.

• Ability to retrieve it to a fixed place is useful in office parking areas and homes.• Ability to retrieve it using Remote Drive technology is useful in streets and other

public parking areas.• Bluetooth communication is inherently secure because it can be paired with only

one device at time.• RTOS makes the system extremely robust and guarantees a fail safe operation.• ARM Cortex-M3 microcontroller operates with very less power yet providing

superior performance.•

Software

Software Tools Used:• Programming Language: Embedded C• Development Tool: MPLAB IDE

Embedded Protocols Used:• UART, IEEE 802.15.4.

 

Software Libraries Used:• LCD Display Library • Matrix keypad Driver Library • IEEE 802.15.4 Wireless Protocol Stack • Digital MEMS Accelerometer Driver via I2C protocol• Peripheral Device Driver Library

MPLAB IDE is an easy to learn and use integrated

development environment (IDE).

The integrated development environment is an application

that has multiple functions for firmware development.

The MPLAB IDE integrates a complier , an assembler, a

project manager, an editor, a debugger, a simulator and an

assortment of other tools within one window application.

The IDE provides firm ware development engineers the

flexibility to develop and debug the firmware for microchips

PIC microcontroller (MCU) families.

Introduction

Abbreviations

I2C – Inter Integrated Circuit SPI – Serial Peripheral Interface MEMS – Micro Electro Mechanical System / Sensor DOF – Degree of Freedom UART – Universal Asynchronous Receiver Transmitter ADC – Analog to Digital Converter LCD – Liquid Crystal Display

REFERENCE

• S. de Treville, S. Bendahan, and A. Vanderhaeghe, “Manufacturingflexibility and performance: Bridging the gap between theory and prac-tice,” Int. J. Flexible Manuf. Syst., vol. 19, no. 4, pp. 334–357, 2007.

• Self-Configuration ofWaypoints for Docking Maneuvers ofFlexible Automated Guided VehiclesDavid Herrero, Jorge Villagrá, and Humberto Martínez, IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 10, NO. 2, APRIL 2013

• D. Sun, A. Kleiner, and C. Schindelhauer, “Decentralized hash ta-bles for mobile robot teams solving intra-logistics tasks,” in Proc.Autonomous Agents Multiagent Systems, Toronto, Canada, 2010, pp.923–930.

• T. Raj, R. Shankar, andM. Suhaib, “A review of some issues and iden-tification of some barriers in the implementation of FMS,” Int. J. Flex-ible Manuf. Syst., vol. 19, no. 1, pp. 1–40, 2007.

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