{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/113221"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/113221","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Illi Racecar: A small-scale platform for autonomous driving","abstract":"This thesis proposes a safety-critical 1/10 scale autonomous driving platform called Illi Racecar. Sensors, including three cameras, A laser scanner, an inertial measurement unit (IMU), two encoders, and an E-stop button, were installed on the platform for environmental perception. Three levels of computer module were equipped for data processing and control. A servo motor and a DC motor with the Ackermann steering chassis were utilized for motion control. A self-designed PCB board was placed on the vehicle supporting the electronic system. The Illi Racecar was built based on a Real-Time Operating System (RTOS) with a high-low level controller framework. The new generation of Robot Operating System, ROS2, was installed on the main computer station with its real-time features to ensure the platform's reliability. A real-time Drive-by-Wire (DBW) control module with an industry-standard Controller Area Network (CAN) bus was implemented to replace the less reliable ROS serial communication interface. Based on the parameter of the Illi Racecar, two geometric path trackers, namely the Pure pursuit controller and the Stanley controller were simulated using Simulink. After the low-level control programming and sensing system calibration of the platform, real car tests were conducted based on the parameters tuned by the simulation. The program for the real car test was also built in Simulink and generated into C for faster development. After comparing the simulation results and the real car evaluation of different controllers, several factors that influenced the results were determined. The Illi Racecar was the first application of ROS2 on a 1/10 scale Ackermann steering platform and in using Simulink modeling for rapid control system prototyping.","abstract_html":"This thesis proposes a safety-critical 1/10 scale autonomous driving platform called Illi Racecar. Sensors, including three cameras, A laser scanner, an inertial measurement unit (IMU), two encoders, and an E-stop button, were installed on the platform for environmental perception. Three levels of computer module were equipped for data processing and control. A servo motor and a DC motor with the Ackermann steering chassis were utilized for motion control. A self-designed PCB board was placed on the vehicle supporting the electronic system. The Illi Racecar was built based on a Real-Time Operating System (RTOS) with a high-low level controller framework. The new generation of Robot Operating System, ROS2, was installed on the main computer station with its real-time features to ensure the platform's reliability. A real-time Drive-by-Wire (DBW) control module with an industry-standard Controller Area Network (CAN) bus was implemented to replace the less reliable ROS serial communication interface. Based on the parameter of the Illi Racecar, two geometric path trackers, namely the Pure pursuit controller and the Stanley controller were simulated using Simulink. After the low-level control programming and sensing system calibration of the platform, real car tests were conducted based on the parameters tuned by the simulation. The program for the real car test was also built in Simulink and generated into C for faster development. After comparing the simulation results and the real car evaluation of different controllers, several factors that influenced the results were determined. The Illi Racecar was the first application of ROS2 on a 1/10 scale Ackermann steering platform and in using Simulink modeling for rapid control system prototyping.","abstract_has_math":false,"creators":["Zhang, Jiaming"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Norris, William Robert"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2022,"date_issued":"2022-01-12T22:35:20Z","date_published":"2022-01-12T22:35:20Z","updated_at":"2026-07-22T22:24:53Z","subjects":["autonomous driving, CAN bus, RTOS, ROS2"],"languages":["en"],"rights":["Copyright 2021 Jiaming Zhang"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/113221","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Norris, William Robert"]},{"key":"dc:creator","label":"Author","values":["Zhang, Jiaming"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2022-01-12T22:35:20Z","2024-01-12T22:35:30Z","2021-07-22","2021-08"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["autonomous driving, CAN bus, RTOS, ROS2"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2021 Jiaming Zhang"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/113221"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis proposes a safety-critical 1/10 scale autonomous driving platform called Illi Racecar. Sensors, including three cameras, A laser scanner, an inertial measurement unit (IMU), two encoders, and an E-stop button, were installed on the platform for environmental perception. Three levels of computer module were equipped for data processing and control. A servo motor and a DC motor with the Ackermann steering chassis were utilized for motion control. A self-designed PCB board was placed on the vehicle supporting the electronic system. The Illi Racecar was built based on a Real-Time Operating System (RTOS) with a high-low level controller framework. The new generation of Robot Operating System, ROS2, was installed on the main computer station with its real-time features to ensure the platform's reliability. A real-time Drive-by-Wire (DBW) control module with an industry-standard Controller Area Network (CAN) bus was implemented to replace the less reliable ROS serial communication interface. Based on the parameter of the Illi Racecar, two geometric path trackers, namely the Pure pursuit controller and the Stanley controller were simulated using Simulink. After the low-level control programming and sensing system calibration of the platform, real car tests were conducted based on the parameters tuned by the simulation. The program for the real car test was also built in Simulink and generated into C for faster development. After comparing the simulation results and the real car evaluation of different controllers, several factors that influenced the results were determined. The Illi Racecar was the first application of ROS2 on a 1/10 scale Ackermann steering platform and in using Simulink modeling for rapid control system prototyping.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2023-08-01","The student, Jiaming Zhang, accepted the attached license on 2021-07-21 at 14:19.","The student, Jiaming Zhang, submitted this Thesis for approval on 2021-07-21 at 14:25.","This Thesis was approved for publication on 2021-07-22 at 14:45.","DSpace SAF Submission Ingestion Package generated from Vireo submission #17038 on 2022-01-12 at 12:55:33","Made available in DSpace on 2022-01-12T22:35:20Z (GMT). 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Sensors, including three cameras, A laser scanner, an inertial measurement unit (IMU), two encoders, and an E-stop button, were installed on the platform for environmental perception. Three levels of computer module were equipped for data processing and control. A servo motor and a DC motor with the Ackermann steering chassis were utilized for motion control. A self-designed PCB board was placed on the vehicle supporting the electronic system. The Illi Racecar was built based on a Real-Time Operating System (RTOS) with a high-low level controller framework. The new generation of Robot Operating System, ROS2, was installed on the main computer station with its real-time features to ensure the platform's reliability. A real-time Drive-by-Wire (DBW) control module with an industry-standard Controller Area Network (CAN) bus was implemented to replace the less reliable ROS serial communication interface. Based on the parameter of the Illi Racecar, two geometric path trackers, namely the Pure pursuit controller and the Stanley controller were simulated using Simulink. After the low-level control programming and sensing system calibration of the platform, real car tests were conducted based on the parameters tuned by the simulation. The program for the real car test was also built in Simulink and generated into C for faster development. After comparing the simulation results and the real car evaluation of different controllers, several factors that influenced the results were determined. The Illi Racecar was the first application of ROS2 on a 1/10 scale Ackermann steering platform and in using Simulink modeling for rapid control system prototyping.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2023-08-01","The student, Jiaming Zhang, accepted the attached license on 2021-07-21 at 14:19.","The student, Jiaming Zhang, submitted this Thesis for approval on 2021-07-21 at 14:25.","This Thesis was approved for publication on 2021-07-22 at 14:45.","DSpace SAF Submission Ingestion Package generated from Vireo submission #17038 on 2022-01-12 at 12:55:33","Made available in DSpace on 2022-01-12T22:35:20Z (GMT). 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