About

This repository is for the ECU-Control part of the Autonomous-Driving-System project. The ECU-Control is based on an independent RaspberryPi board and operates a physical PiRacer model vehicle. It controls the throttle and steering of the PiRacer using data received via CAN communication from the ECU-Core.

Requirements

• Ubuntu 20.04

  Install Ubuntu 20.04 for RaspberryPi using RaspberryPi OS Imager.

• CAN HAT setup

  Follow the instruction of 2-CH CAN FD HAT setup and enable Single SPI Mode.

• Python packages

  pip install piracer-py
  pip install python-can
  pip install pygame

Usage

# Execute on the ECU-Control
sh can_setup.sh
python3 src/control.py

(Optional) You can check the CAN communication using keyboard controller.

# Execute on the ECU-Core
sh can_setup.sh
python3 src/keyboard_controller.py

When you run the controller, a small pygame window will appear. Click on it and press the WASD keys on the keyboard to operate PiRacer.

Note

Context of CAN communication

Message	Purpose	Arbitration ID
steering	Control	0x00
throttle	Control	0x01
x position	GPS	0x02
y position	GPS	0x03
orientation	GPS	0x04
headunit start	Autonomous driving	0x05

Reference

• Waveshare PiRacer