1 of 8

  • SW: LKAS, Object Detection, Pose Detectoin
  • HW: Raspberry, Arduino, DC motor driver, USB webcam, RC car

Android Self Driving - test

2 of 8

- 2 -

  1. Android: 3.1.1 (Mac)
  2. Tensorflow: 1.4 (Ranspberry pi)

- Model: CNN, Object Detection

- Pbtxt, ckpt, pb

  • Python 3.5

- TCP socket

- Serial

- Gyroscope , Accelerometer sensor

- Asynch Task

  • Aruduino

- Sketch: Serial, DO, AO

- DC Motor driver

Android Self Driving - test

3 of 8

- 3 -

  1. Diagram

​

​

Android Self Driving - test

WiFi TCP socket

Android Studio

Tensorflow

​

  • Gyroscope sensor
  • Accelerometer

Raspberry pi

Arduino

USB webcam

Motor driver

Python

Tensorflow

RC car

USB

Serial

DO

4 of 8

- 4 -

<동작원리>

1. Android

- Gyro sensor 이용

>pitch: 전진, 후진 속도제어 (default 45 degree)

>roll: 좌우 핸들링 제어

​

2. Raspberry pi

- 통신: Serial to Arduino (HW 제약)

- Digital: 3.3 logic level (5V 안됨)

- Analog: 채널 없음

3. Arduino

- Digital I/O: 5V level 로 모터 전진, 후진, 정지 제어

- Analog output 으로 속도 제어

Android Self Driving - test

Roll - Steering

Pitch – Velocity

Front or Back

5 of 8

- 5 -

<Trouble issue>

1. Android

- TCP socket delay (lack 걸림)

- Bluetooth logic

- Video streaming

- - Event handling: onResume, onPause

2. Tensorflow: version

- Ranspberry pi : 1.4

- Mac PC: 1.8

3. Python 3.5

- TCP socket

- Serial

Android Self Driving - test

6 of 8

- 6 -

<Video>

​

​

Android Self Driving - test

7 of 8

- 7 -

<Pictures>

​

​

Android Self Driving - test

8 of 8

- 8 -

Thank you

for

kind attention