HweongWoo / AutoMobile

SelfDrivingModelCar

Hardware Platform

Board

• NVIDIA Jetson TX2

Camera

• LI-IMX377-MIPI-CS
• LI-JTX1-MIPI_ADPT

Model Car

• Traxxax 1/16 Slash 4X4(Brushed)
• motor: Titan 12T 550

Gamepad

• Logitech Wireless F710

Requirement

• JetPack3.1
  • L4T 28.1
  • CUDA 8.0
  • cuDNN 6.0
• CMake
• i2c-tools
  • sudo apt-get install libi2c-dev
• TensorFlow for TX2
  • http://www.jetsonhacks.com/2017/09/22/install-tensorflow-python-nvidia-jetson-tx-dev-kits/
• H5py
  • sudo pip install h5py
• Keras(2.1.5)
  • sudo pip install keras
• SciPy for Python
  • sudo apt-get install python-scipy
• NumPy
  • sudo apt-get install python-numpy
• OpenCV for TX2
  • http://www.jetsonhacks.com/2017/04/05/build-opencv-nvidia-jetson-tx2/
• See requirements.txt for other requirements.

How to operate an Autonomous driving model car

The following steps assume that the settings for vehicle control and user input are all completed.

1. Speed up the jetson with: sudo sh ./speed_up_the_jetson.sh

2. Run the main program with: sudo python main.py

3. Wait until all resources are allocated.

4. Use the following commands to control the program.

Input value	Operation
Button 0(X)	Exit program
Button 1(A)	Autonomous mode ON
Button 2(B)	Autonomous mode OFF
Button 4(LB)	Increase goal speed
Button 5(RB)	Decrease goal speed
Axis 0	Steer the wheel
Axis 1	Move front, stop, back