https://github.com/customize5773/diy-self-driving-car
An open-source autonomous vehicle platform featuring sensor fusion (LiDAR + Ultrasonic), real-time navigation, and collision avoidance - all powered by ESP32
https://github.com/customize5773/diy-self-driving-car
autonomous-vehicles esp32 lidar robotics sensor-fusion
Last synced: 9 days ago
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An open-source autonomous vehicle platform featuring sensor fusion (LiDAR + Ultrasonic), real-time navigation, and collision avoidance - all powered by ESP32
- Host: GitHub
- URL: https://github.com/customize5773/diy-self-driving-car
- Owner: Customize5773
- License: mit
- Created: 2025-06-09T13:58:58.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2025-06-10T08:20:24.000Z (11 months ago)
- Last Synced: 2025-10-13T14:07:05.192Z (7 months ago)
- Topics: autonomous-vehicles, esp32, lidar, robotics, sensor-fusion
- Language: C++
- Homepage:
- Size: 1.49 MB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# 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](https://www.aliexpress.com/item/1005005233434681.html) | 1 | AliExpress |
| [TF-Luna LiDAR](https://www.sparkfun.com/products/17786) | 1 | SparkFun |
| [HC-SR04 Ultrasonic Sensors](https://www.adafruit.com/product/3942) | 3 | Adafruit |
| [L298N Motor Driver](https://www.amazon.com/HiLetgo-L298N-Driver-Stepper-Controller/dp/B014KMHSW6) | 1 | Amazon |
| [TT Gear Motors](https://www.dfrobot.com/product-244.html) | 2 | DFRobot |
| [18650 Batteries](https://18650batterystore.com/products/samsung-35e) | 2 | 18650BatteryStore |
> Full BOM with links: [Hardware/Bill_of_Materials.md](Hardware/Bill_of_Materials.md)
## Getting Started
### Prerequisites
- PlatformIO (VSCode extension)
- Arduino IDE (for initial flashing)
- 3D printer (for custom parts)
### Installation
```bash
# 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
```python
# 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:
```mermaid
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
```
> Image flowchart: [Documentation/Autonomous_Logic_Flowchart.png](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
```bash
# 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](Documentation/ROS_Integration.md))
- [ ] 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.