Supachai Vorapojpisut, Permsap Munborirux, Siraphop Laosuarpa, Suwarang Jaisamer, “Model-based design of a teleoperated RC car: issues and solutions”, The 5th International Conference on Engineering, Energy, and Environment (ICEEE 2017), November 1-3 2017
This paper presents our experience on the implementation of a software system for realizing the teleoperated driving feature on an RC car. The software system was formulated as three Simulink models using the model-based design approach. Then three sets of source code were generated, built and deployed to the corresponding computer system, namely personal computer, Raspberry Pi, and FRDM-KL25Z microcontroller board. This paper focuses on a design requirement of real-time communication between each computer system based on WiFi and USB serial communication. Due to the time-triggered architecture of Simulink environment, dataflow behaviors are governed by the setting of blocks’ sample time. Even the timing of block execution should be deterministic, but undesirable issues including delay, data loss and deadlock had been observed in our system tests. By investigating communication-related blocks, data framing and execution timeout had been proposed to overcome such communication issues. By performing system tests, the effectiveness of our solution was confirmed with the bound of 0.03 second round-trip delay.