Self-Driving car using Raspberry pi 4

This is a Self-Driving car (SDV) project which uses pi pico as a slave device and various sensor in order to work properly.

Features

• Stop signs detection
• Road lane following
• Turn Indicators
• Stop light(back side SDV)
• Stopping on any obstacle which is in front
• Observer for development stages
  • Live logs(of SDV or itself etc.)
  • Real-Time charts such as gauge chart, compass chart, scatter plot etc.
  • Interactive GUI
  • Fully customization with GUI
  • Scheduling the server for connection
  • Analyzing the data from previous run
  • and many more.....

  • All features are highly customizable, and created by keeping large audience in mind

• User Display as a vehicle dashboard
  • Works on multiple platforms like Android, IOS, Windows, Linux, MacOs (ofcourse after compiling)
  • Real-Time interactions
  • Interactive GUI
  • Fully customization with GUI
  • Multiple driving modes
  • Communication via Sockets
  • and many more.....

  • All features are highly customizable, and created while keeping scalability in mind

Quick start

First setup pico-sdk c environment ...

About the files

📦Raspberry-Pi-4-Self-Driving-Vechicle
 ┣ 📂others                         # Contains some of the informative files, see internal 📜README.md from more details
 ┃ ┗ 📜README.md                    # Internal 📜README of the directory 📂others
 ┣ 📂resources                      # Files which are useful as a reference, see internal 📜README.md from more details
 ┃ ┗ 📜README.md                    # Internal 📜README of the directory 📂resources
 ┣ 📂src                            # Contains all the source code of the project
 ┃ ┣ 📂master__Raspberry_Pi_4B      # files related to master device i.e. Raspberry pi 4
 ┃ ┃ ┗ 📂src                        # source code of the master device i.e. Raspberry pi 4
 ┃ ┃ ┃ ┣ 📂packages                 # contains some of the files used by the master device
 ┃ ┃ ┃ ┃ ┗ 📜my_class.py            # file containing some of the important classes and functions
 ┃ ┃ ┃ ┗ 📜main.py                  # file responsible for execution of instructions of master device
 ┃ ┣ 📂observer_Computer            # files related to observer i.e. external computer(Windows in my case)                       # source code of the observer i.e. external computer(Windows in my case)
 ┃ ┃ ┃ ┣ ...
 ┃ ┣ 📂user_display                 # files related to user display i.e. external control device(Android or Windows in my case)
 ┃ ┃ ┗ ...
 ┃ ┗ 📂slave__Pi_Pico               # files related to slave device i.e. Raspberry pi pico
 ┃ ┃ ┣ 📂include                    # files which should be included in order to use FreeRTOS. go to FreeRTOS docs to know more
 ┃ ┃ ┃ ┗ 📜FreeRTOSConfig.h         # FreeRTOS configuration file
 ┃ ┃ ┣ 📂src                        # source code of the slave device
 ┃ ┃ ┃ ┣ 📜functions.c              # contains all the functions used by 📜main.c i.e. slave device
 ┃ ┃ ┃ ┣ 📜functions.h              # header file for 📜functions.c
 ┃ ┃ ┃ ┣ 📜global_vars.c            # contains all the constants values and variables which are used across all the src files of slave
 ┃ ┃ ┃ ┣ 📜global_vars.h            # header file for 📜global_vars.c
 ┃ ┃ ┃ ┗ 📜main.c                   # file responsible for the execution of all the instructions given to slave 
 ┃ ┃ ┣ 📜CMakeLists.txt             # file used to create a build to flash into slave
 ┃ ┃ ┣ 📜pico_sdk_import.cmake      # file used in build see pi-pico SDK docs from more details
 ┃ ┃ ┗ 📜setup.md                   # file containing information about creating successful build from all the source files
 ┣ 📜.gitignore                     # file containing information about which files should be remain untracked by git
 ┣ 📜issues.md                      # file containing some of the issues/problems regarding the project
 ┗ 📜README.md                      # file containing all these lines and detailed information about the project

About Observer

Observer is a person which can use a desktop app in order to communicate with the SDV to see some live data of the SDV in order to really see what's happening in it. The application for the observer is developed purely in Java and been focused on analyzing data as much as possible to get some cool insights. Previously the observer application was in python and it was a bare minimum software. However, current application is a GUI based application and have some cool analytical features like live logs, different types of charts such as bar chart, gauge chart, pie chart, etc. and many more. Some of it's images are provided below.

About User Display

This is kind of dashboard of a vehicle in reality we will have physical steering wheel, paddles etc. while driving but in order to test the SDV effectively I had designed an interface which works on multiple platforms. It simulates a real SDV for the controlling software

Contributing

Thank you for considering contributing to Raspberry pi Self Driving car!

First note we have a code of conduct, please follow it in all your interactions with the program files.

We welcome any type of contribution, not only code. You can help with:

• QA: File bug reports, the more details you can give the better (e.g. images or videos)
• New Features: You can suggest an modifications or just ask for advancements in the old features of SDV.
• Code: Take a look at the open issues. Even if you can't write the code yourself, you can comment on them, showing that you care about a given issue matters. It helps us to handel them

Demo

Author

• @Aman
  • GitHub
  • Telegram
  • Email -> [email protected]

Facts

• History
  • This is the 8^th version of the vehicle. Previous versions are not tracked by any version control system.
  • It was initially started in 2019-20 as just an obstacle avoiding vehicle.
  • The idea of this project came years(2010-11) back while playing with a old school RC car.
• Development
  • The project got a kick start while I was working on another project related to a science competition.
  • Later I decided to showcase this same SDV at the competition.
  • The development of this particular version(from scratch) took about 50hrs. However the knowledge and research is of years of hardwork.
  • A similar vehicle was developed in order to test the hardware potential of the chassis. Here is the GitHub repo of that project. However, the code base of both the projects are quite different.

License

MIT License

Copyright (c) 2022, Aman Rathore

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.