DIY LiDAR Self-Driving Car

An open-source autonomous vehicle platform featuring sensor fusion (LiDAR + Ultrasonic), real-time navigation, and collision avoidance - all powered by ESP32!

Key Features

• Hybrid Sensor Fusion: Combines TF-Luna LiDAR (8m range) with ultrasonic sensors for redundant obstacle detection
• Real-Time Navigation: FreeRTOS-powered ESP32 processes sensor data at 100Hz
• Collision Avoidance: Emergency braking system triggered at 20cm proximity
• ROS 2 Ready: Migration path for advanced navigation with Nav2
• Open Hardware: 3D printable parts and accessible components under $100

Hardware Setup

Bill of Materials

Component	Quantity	Source
ESP32 Dev Board	1	AliExpress
TF-Luna LiDAR	1	SparkFun
HC-SR04 Ultrasonic Sensors	3	Adafruit
L298N Motor Driver	1	Amazon
TT Gear Motors	2	DFRobot
18650 Batteries	2	18650BatteryStore

Full BOM with links: Hardware/Bill_of_Materials.md

Getting Started

Prerequisites

• PlatformIO (VSCode extension)
• Arduino IDE (for initial flashing)
• 3D printer (for custom parts)

Installation

# Clone repository
git clone https://github.com/Customize5773/DIY-Self-Driving-Car.git
cd DIY-LiDAR-Car

# Install dependencies
pio pkg install

# Build and upload to ESP32
pio run -t upload

# Monitor serial output
pio device monitor

First-Time Calibration

# Run calibration script
python3 scripts/sensor_calibration.py

# Follow on-screen instructions
Place calibration target at 50cm distance
Press ENTER to record measurement...

🤖 Autonomous Logic

Our decision-making system prioritizes safety while enabling efficient navigation:

graph TD
    A[Start] --> B[Read Sensors]
    B --> C{Ultrasonic < 20cm?}
    C -->|Yes| D[EMERGENCY STOP]
    C -->|No| E{LiDAR < 50cm?}
    E -->|Yes| F[Adjust Path]
    E -->|No| G[Full Speed]
    D --> H[Continue]
    F --> H
    G --> H
    H --> B

Loading

Image flowchart: Documentation/Autonomous_Logic_Flowchart.png

Build Instructions

Step 1: Mechanical Assembly

1. Print 3D models
2. Mount motors and wheels to chassis
3. Install LiDAR at 15cm height with 30° forward tilt
4. Position ultrasonic sensors: front (0°), left (+45°), right (-45°)

Step 2: Electronics

# Typical connections:
LiDAR SDA → ESP32 GPIO21
LiDAR SCL → ESP32 GPIO22
Ultrasonic TRIG → ESP32 GPIO16
Ultrasonic ECHO → ESP32 GPIO17
Motor ENA → ESP32 GPIO25

Step 3: Firmware Setup

1. Install PlatformIO in VSCode
2. Open Firmware/PlatformIO_Project folder
3. Configure platformio.ini for your ESP32 variant
4. Flash using PlatformIO task runner

Troubleshooting

Symptom	Solution
LiDAR not detected	Check I²C address (default 0x10), ensure 5V power
False ultrasonic readings	Add foam ring around sensor, avoid reflective surfaces
Motor jitter	Add 100µF capacitor across motor terminals
ESP32 overheating	Enable deep sleep between navigation cycles

Future Upgrades

• ROS 2 integration (see roadmap)
• IMU-based dead reckoning
• Camera integration for object recognition
• Swarm coordination protocol

Contributing

We welcome contributions! Please follow these steps:

1. Fork the repository
2. Create your feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add some amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a pull request

License

Distributed under the MIT License. See LICENSE for more information.