Team 4 aims to train the car to be able to recognize and react to the traffic signs, such as stop sign and speed limit. To make the speed more controllable, we replace the brushless motor to brush DC motor and the ESC which go with them. We add the second camera and second raspberry pi for processing the images.
Replace the motor
The original Brushless motor is sensitive and moves fast. To ensure the car stop on time, we need more control over the speed. So we changed it to brushed motor, which runs relatively slow and stable.
Problem Solved: The Brushed motor provided by the professors has 3mm D shaft, but the pinion on the car is 5mm. We have to make an adapter to hold the pinion on the shaft. The pinion fills the space between the shaft and the pinion. It also has a hole on the side so the screw for the pinion can go through the hole to hold the three pieces together.
Replace the ESC
Different ESC are used for the motors.
Second Camera Setup
We decide to make the second camera aim a small angle to the right and forward. We make the second camera mount and keep it simple.
Second Raspberry Pi set up
Communication between Pis
In order to detect stop signs, we used a Haar Cascade. This had the dual benefits of not needing to be trained (since stop signs are a commonly classified object) and being fast enough to stop a car in time if it saw one.