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The Open Source Car Control (OSCC) project is a hardware and software project detailing the conversion of a late model vehicle into an autonomous driving research and development vehicle.
The goal of this wiki is to house and present all of the information you need to modify a Kia Soul (or similar vehicle) for full by-wire control.
OSCC was created to give everyone the opportunity to build their own development autonomous vehicle. Other by-wire vehicle platforms (components + vehicle) can cost upwards of $140,000, and are “black boxed,” preventing further investigation and innovation into autonomy. We figured out a way to offer a more affordable, open-source option to the public. By using tools and parts common across robotics and automotive, you can use our kits combined with the software of your choice, to build a self-driving car for under $10,000.
This wiki will guide you through the process, acting as the main source of documentation for engineers, developers and seasoned hobbyists working on the OSCC project.
You should have the ability to run wires in the car, crimp and solder wires, create mounting platforms for hardware, fabricate mounting brackets and drill holes and install fasteners to secure the mounting brackets.
This OSCC wiki describes the installation process using the second generation (2014+) Kia Soul. It is low cost, available globally, and ships with electronic power steering (EPAS) and throttle-by-wire. OSCC interfaces with these systems to control steering and throttle without adding extra actuators.
When considering brake control in the Soul, it is important to note that these vehicles don’t have electronically controlled brakes. As a solution, you can add a brake-by-wire system found on some hybrid vehicles. The actuators from these hybrid vehicles can be added in-line to the Kia brake system in order to control brake pressure.
To control braking, we’ll add a brake actuator from an 2004 - 2007 Prius to the soul brake system.
WE RECOMMEND THAT A HOT ROD OR RACE SHOP INSTALL THE PRIUS BRAKE ACTUATOR AND EXTRA BRAKE RESERVOIR.
To achieve lateral and longitudinal control of the Kia Soul it is necessary to control three separate automotive systems, interface with the existing vehicle CAN bus, and power the additional microprocessors and actuators. Each of the control modules introduced into the vehicle are built around Arduino controllers. Arduino controllers provide a cheap and easy way to introduce embedded controllers into the system, and offer flexibility when controlling vehicles other than the Kia Soul.
A new network of controllers will be created that communicate via a CAN bus, called the Control CAN bus. Control commands can be published to this bus in the form of CAN frames from a node executing a path planning algorithm or a simple game controller. An example of the latter is included in the repo in the control directory.
We’ve tested the modules in the 2014 and 2017 Kia Soul’s with automatic transmissions, and 1.6L motors. Any trim level will work, though beware of the panoramic roof option as it makes mounting sensors to the top of the vehicle more challenging. Kia Soul’s are also available used for as low as $8-$10K, new vehicles start from $16K - $17K.
PolySync is working on creating Arduino shields that provide all the function needed for interfacing with the steering, throttle, and brake system. Check back soon for schematics and board layouts!
Safety is your responsibility. This is a fun technical automotive project, but the fun ends quickly if you or someone gets hurt. Take a minute to review these safety warnings and our disclaimer.
- Always wear appropriate safety gear.
- Make sure you have adequate skills and experience to construct the project.
- Make sure you know how to properly use all equipment.
- Keep in mind that the tools and electricity you are exposed to in this project is dangerous. Use appropriate precautions and safety gear.
- This project is not intended for children.
- Parts and materials associated with this project may require special handling, precautions, and safety gear to avoid injury. For instance, they may have sharp, rough edges that can cause harm if not handled appropriately, or be small enough to pose a choking hazard for children and pets.
- Wear appropriate safety gear when handling parts and materials, and use caution.
- Keep all parts out of reach of children and pets.
- If you build this project from either your own parts or one of our parts kits we do not guarantee the fitness or safety of the final product resulting from the project.
- Products assembled by PolySync are carefully built and inspected to meet our high standards. We stand behind the quality of products we assemble. If there is a problem with a product we assembled, please contact us at [email protected] so we can do our best to fix the problem. Use of the product is still your responsibility.