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Welcome!

This section will contain all of the setup instructions, documentation for our code, and any questions that there are for our project. The software written for this project has been developed and compiled on systems running Ubuntu 14.04 LTS with GCC 4.8.X. The first step for getting the combined DSRC/radar system to work on your machine is to clone the git repository. To clone the repository, run the following command from terminal.

git clone https://github.com/rsyvarth/dsrc-radar-collision-avoidance

Setup

This section explains how to setup the hardware and software required to use our combined DSRC/radar system. Follow the links below to setup the Kvaser LeafLight v2 Drivers/Delphi ESR Radar module, and the Cohda DSRC wireless module.

Kvaser Drivers/Radar Installation Guide

Cohda DSRC Installation Guide

OpenCV Installation Guide

Code Documentation

The documentation for all of the source code that we have written can be found at the following link.

Source code documentation

Bugs

This section contains a list of known bugs for the system that we have not yet had time to fix.

Installing OpenCV cv2 module not found

FAQ

This section contains a bunch of frequently asked questions about our project.

Can this project log radar + DSRC messages (both Tx and Rx)?

Yes the software can do all of that - although much of the content of the DSRC BSMs is currently empty due to issues with non-standardized representations of that data on vehicles. We currently only populate GPS related fields + speed in the packets. We have done some research on collecting the rest of the information but it is vehicle specific and we don't want to write code that will only work for the 2010 Prius that we are using. Just something to be aware of.

What's the best way to use the code to generate the combined logs?

If you just run python main.py with all of the hardware setup properly it will automatically generate logs into the logs/dsrc.log and logs/radar.log directories. It is worth noting that we are pretty much constantly changing this codebase right now so we are likely to break things pretty frequently. We have at least one known issue with the way we decode track width from the radar that still needs to be resolved. There are likely more fields which we are incorrectly decoding as well - we still have much of our testing left to do.

The process for getting the DSRC "setup properly" is slightly involved - check the dsrc_connect.sh script to see the steps you have to run. That script might work, but some of the error handling is poor so it will fail silently so I would recommend doing it by hand. Our radar interface will also only work with the completely black radars (not the one you have been using).

How do you set up the system with a computer?

I think I explained most of the software side of this at part of #2. The only other major thing you will need to do software-wise is ensure you have all of the Kvaser drivers setup. There are instructions for how to do this on linux in the repository - otherwise you can download/install the windows version from Kvaser's website (which I presume you have already done). You do not need to worry about installing OpenCV in order to collect logs - that is just for the visualization stuff we are doing and I believe we have it properly setup at this point that you can still run everything (other than the visualization) fine without OpenCV installed.

As far as the hardware goes you will need to connect the OBD-II connector to the OBD-II port on your car; connect the Kvaser to one of the DB9 connectors and plug that into your computer; connect the DSRC to the other DB9, its power cable, antenna (3 wires), and ethernet to your laptop (there is also a USB interface but it isn't as stable we have found); and connect the radar to its proprietary connector.