Author: zemingbh

• Tested blind spot detection multiple times. Had to think about the algorithm and try different things because some of the methods for blind spot detection we were using weren’t performing well.
• Implemented blinking for turn signals and potentially for proximity sensors as well.
• Improved the brake light algorithm to be smoother.
• Took the bicycle and jacket out for an actual use test run.

• Soldered the protoboards and the components to be used for the construction of the system on the bicycle.  Obtained the necessary equipment and supplies for the final connection. Designed the wire “bus” for communication between the systems on the front and the back of the bicycle. Measured out the various parts of the bicycle with Mike to determine how to arrange everything, designing the mounting system “box” and the necessary ports.

• Improved the collision detection algorithm to make it significantly more stable. Now measures velocity over longer periods, allowing for better robustness and better response to errors.
• Tested the 3 LIDAR system using a single I2C bus, by modifying addressing of individual LIDARs. Made use of the LIDAR enable lines to allow the Pi to restart the LIDARs as necessary.
• Implemented the accelerometer for detecting braking, instead of using the reed switch/timing combination as the response time of that was too slow for brake lights. The reed switch/timing combination remains just to measure speed. The Arduino was necessary to read the analog accelerometer, so it paid off to keep the Arduino in the system even though it was technically not necessary, because of its ability to read analog inputs.
• Modified the communication protocol between the Pi and the speedometer Arduino to make it more robust.
• Worked with Sid to design the app interface and determine what features should be included, especially testing hooks.

Connection between Android and main system is established.

Multiple LIDARs are working in sync.

Working on building mounting system onto bike.

Monday: Worked on connectivity between phone and Pi with Sid

Wednesday: Worked on testing the new LIDARs and connecting multiple LIDAR in parallel, using the I2C interface.

The components are coming together for the demo. The demo will probably involve a frontal collision demo with most of the functionality for this aspect included (time-to-impact calculations will activate the buzzers on the jacket). The ultrasound sensors will provide proximity detection.

We finished ordering the rest of the components we need after testing the LIDAR outdoors. The battery seems to be plenty to power the LED matrix with, so that’s a good sign.

• Wrote functionality tests for the LIDAR, the ultrasound, the bluetooth connection to the jacket from the Pi, and the speedometer.
• Tested the ultrasonic sensors in an array of 3. Works well.
• Tested the LIDAR outdoors, and has good response up to about 20m in the rain (we all did this on Monday).
• Tested the polling rate of the LIDAR, the polling rate is more than sufficient.
• Tested the Pi’s bluetooth connection with Arduino, programmatically connecting and transmitting messages. Success.
• Wrote the libraries to interface with the various components easily.
• Wrote a primitive distance algorithm for frontal collision detection.

Proximity sensors implemented

Arduino interface with LEDs implemented

Integration in progress

 

Saturday (16th)

Worked on the LKM, but after working a while decided to switch to pigpio instead of using an LKM because measuring pulse width requires two interrupt handlers, one for rising and one for falling edge, or requires checking the pin level within the interrupt handler, which apparently takes a uncertain amount of time. Using pigpio instead polls the GPIOs at a set frequency, while this still isn’t the most accurate, at least the error will be predictable and there is no need to mess with the kernel.

Sunday/Monday (17th/18th)

Worked further on the proximity sensors (ultrasound). Managed to get two working at the same time using my program interfacing with pigpio. Wrote the library to support six, which is the number we need. Am mildly concerned about the performance of the rest of the software running on the pi given the pigpio’s need for polling, but so far it seems like it is okay. Would consider the proximity sensors essentially ready for testing.

Tuesday/Wednesday (19th/20th)

Worked on the bluetooth connectivity between the Pi and the Arduino. Figured out how to configure the HC05 bluetooth module for the Arduino to use. Tested out the C libraries for the Pi’s Bluetooth connectivity.

Updates

• Almost lost our jacket after leaving it in 1303, but fortunately found it later. We will be more careful with it in the future.
• Design review report completed. The report allowed us to put specifications and find data on a lot of things that we were mostly giving ballpark values for. Finding such data allowed us to have more confidence in the situations in which CycleSafe will be useful, and to make our requirements more precise in some areas, such as reaction time, braking distance, power requirements, and visibility.
• Looking forward, spring break and the week after will probably just be grinding through the works of putting a prototype together.