Table of Contents

Dedication .................................................................... ....................................................

Acknowledgement .................................................................... .......................................

ii

Abstract ....................................................................... .....................................................

iii

Table of content .................................................................... ...........................................

iv

List of Figures .................................................................... ................................................

vi

List of Tables .................................................................... .................................................

vii

Chapter I

Introduction

1.1.

Overview .................................................................... ................................

01

1.2.

Motivation .................................................................... ..............................

02

1.3.

Project objectives ........................................................................................

03

1.4.

Organization of the report ...........................................................................

04

Chapter II

Theoretical Background

2.1.

Field Programmable Gate Array (FPGA) .....................................................

05

2.1.1.

FPGA History .................................................................... ...................

06

2.1.2.

FPGA Design Flow .................................................................... ...........

06

2.1.3.

Soft-core Processors ..............................................................................

07

2.1.3.1. NIOS II Soft Processor .......................................................................

08

2.1.3.2. NIOS II core variants .........................................................................

08

2.1.4.

System On Programmable Chip .............................................................

09

2.1.4.1. SOPC Builder .....................................................................................

09

2.1.5.
2.2.

DE2 Development Board .......................................................................

11

RC Car ...........................................................................................................

11

2.2.1.
2.3.

Principal of operation ............................................................................

12

H-Bridge .......................................................................................................

12

2.3.1.

Principal of operation ............................................................................

13

2.3.2.

Implementation ....................................................................................

15

2.3.3.

Criteria of Selection ..............................................................................

15

Distance Sensors ..........................................................................................

16

2.4.

2.4.1.

Types of Distance Sensors .....................................................................

16

2.4.2.

Ultrasonic VS Infrared Sensors ..............................................................

17

2.4.3.

Principal of Operation of Infrared Sensors ............................................

18

Chapter III
3.1.

Hardware System Design

Introduction .................................................................... .............................

20

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3.2.

Motor Driver Unit .................................................................... ...................

20

3.2.1.

H-Bridge .................................................................... ...........................

20

3.2.2.

Protective Circuitry ...............................................................................

21

3.2.3.

Speed Control ........................................................................................

22

3.2.3.1. Generation of the PWM ....................................................................

23

3.3. The Sensing Unit .................................................................... ..............................

24

3.3.1.

GP2D120 Infrared Sensors .....................................................................

24

3.3.2.

Measurements and Linearization ...........................................................

25

3.3.3.

Implementation of the ADC circuit ........................................................

28

3.4. The Controlling Unit ..............................................................................................

28

3.4.1.

LCD Display ...........................................................................................

29

3.4.2.

Implementation of the NIOS System ......................................................

30

Chapter VI

Software System Design

4.1.

The Firmware ...............................................................................................

35

4.2.

Main Program ..............................................................................................

35

4.3.

Sensor Data Collection and Conversion .......................................................

36

4.4.

Space detection ............................................................................................

37

4.5.

Parallel parking ............................................................................................

38

Misalignments detection .......................................................................

38

4.5.1.
4.6.

Perpendicular Parking ...................................................................................

40

4.7.

Reverse Parking ............................................................................................

41

4.8.

User Interface ...............................................................................................

42

4.9.

Programming Language ................................................................................

43

Conclusion .................................................................... ....................................................

44

References .........................................................................................................................

46

Appendices .......................................................................................................................

47

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