Implementation of ADAS algorithms on F1/10th using Arduino IDE.

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.

1. Sensor signal processing:

1a. Sensor fusion with digital filtering

Implementation details can be found here

1b. Ultrasonic sensor-based Localization system

Implementation details can be found here

2. ACC and Lane-keeping

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