From MAE/ECE 148 - Introduction to Autonomous Vehicles
Revision as of 16:03, 22 March 2019 by Winter2019team6 (talk | contribs) (Initial Design and Indoor Track)
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Team Members

  • Aron Laszik (ECE)
  • David Zhu (MAE)
  • ElizabethPark (ECE)
  • Zhe Tang (ECE)


The goal of our project is to use 4 TOF (Time-of-Flight) sensors to continuously sample data from the sensors to successfully parallel park our car. We drew inspiration from a previous team, 2018FallTeam2, who did a project on parallel parking with TOF sensors. Our idea is to further the work done by the previous team by utilizing more sensors to prevent any collision while parking.


Initial Design and Indoor Track

RoboCar06's initial design

The chassis of the car was given to us fully assembled, so the team's first tasks are to a design a platform for the electronics and a camera stand. Both the acrylic plate and the camera mount was made using the tools in Envision.

Our first camera design was proven flawed as we are collecting data for the indoor autonomous model. We've concluded that its short height and small angle of Incline is the problem, as the pictures recorded included too many variances that could disturb the training process. The car's first attempt to drive itself was cut short when it's beginning to cut corners and drive off track. Upon further testing, we learn that the car needed much more data and consistent throttle in order to train a model. We kept that in mind for future training and gotten much better results.

Final Design and Outdoor Track

RoboCar06's final design


Gap Detection

Wall Detection

Perpendicular Parking

RoboCar06 performing a Perpendicular parking maneuver

Parallel Parking


Error with smbus library

We ran into issues with using the smbus library which helps us change the I2C addresses of the TOF sensors in Python. We were able to change the I2C address but could not access the data correctly when trying to establish communication through I2C. With this error we could not use all 4 TOF sensors simultaneously.
We bought 2 multiplexer buses from Fry's so we can use all 4 TOF sensors at the same time.