Previous project groups have detected some problems with the system. The first problem is that the speed and steering control is not linear. They have speculated that this is partly due to the hand-held remote control having built-in non-linearities and partly due to software control loops in the car electronics that are inaccessible. The second problem is that varying IR light intensities lead to detection problems. The light intensity from the IR lamp is not spread evenly over the track; it varies a lot between the edge of the track and the centre of the track, which is right beneath the IR lamp. The third problem is that reversing with the cars is very difficult, a problem caused by the car’s current electronics.
All of these problems could be solved or improved by changing the electronics to allow full control of the software and adding sensing capabilities, e.g. measurement of acceleration to improve the state estimation when there is loss of camera-based detection. Since the sensor data needs to be sent back from the car to the computer a new two-way communication protocol needs to be implemented.
Hence the purpose of this project has been to: – replace car electronics and add new sensor capabilities and two-way communication between car and computer in order to remove speed and steering non-linearities and add control possibilities, – add two new control scenarios (reversing car-trailer system, and car collision avoidance) to showcase interesting and relevant (from a real-world perspective) features that can be realised using control theory.
COURSE Project in Embedded Systems | 15 HP GOAL The main goal of this project is to replace the car electronics, and introduce two new control scenarios.