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Software Setup

In this chapter, you'll learn how to install the AutCar library both on your Raspberry Pi and PC and connect to your car.

1) Prerequisites

You'll need the following:

  • A PC and either a wirless access point or an Ethernet connection
  • A micro SD card
  • A micro SD card reader or a built-in SD card reader on your computer
  • Your AutCar (configuration is shown in the Hardware Assembly documentation)

2) Configure your Raspberry Pi

To use the AutCar software, you have two options: Either use a preconfigured Raspbian image already including all necessary dependencies qne libraries or install the library on your own. If you go for the first option, read on below at 2a, for the second option go to 2b. IMPORTANT: Go for either 2a or 2b, not both!

2a) Use a prebuilt image

  1. Download the prebuilt image from here to your PC.
  2. Unzip the file and download a tool to write disk images to a SD card. On Windows, you can use Win32 Disk Imager
  3. Download a SSH client, for example PuTTY
  4. Plug a SD card to your computer, start your disk image writer and write the autcar.img file to the card by selecting the image and clicking the "Write" button
  5. Open the /boot partition of the SD card, and create a new file named "wpa_supplicant.conf"
  6. Add the following content to the file but replace <YOUR-WIFI-SSID> and <YOUR-WIFI-KEY> with the SSID (name of your Wi-Fi) and password of your WLAN access point. 
    ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=AT

network={
    ssid="<YOUR-WIFI-SSID>"
    psk="<YOUR-WIFI-KEY>"
    key_mgmt=WPA-PSK
}
    If you use an unsecured access point (you shouldn't do this by the way) remove the psk key-value pair and set key_mgmt to NONE
  7. Create an empty file "ssh" (no file ending!) on /boot partition to enable ssh

  8. Start your Raspberry Pi and search on your WLAN access point which IP address your Raspberry Pi is using. Most access points provide a web interface you can use to find the IP address, however, the address of the web interface differrs from router to router. If you don't know it, open a browser and try 192.168.1.1, 10.0.0.1 or 10.0.0.138 to open the web interface and note down the IP address of your Raspberry.
  9. Open PuTTY, enter the IP address of your Raspberry Pi and click "Open". The default credentials are
Username: pi
Password: raspberry

You are now all set on your Raspberry, please continue below at section 3!

2b) Install the library on your own

  1. Download Raspbian Buster Lite from here
  2. Download a tool to write disk images to a SD card. On Windows, you can use Win32 Disk Imager. On a Mac you may use Etcher
  3. Download a SSH client, for example PuTTY
  4. Plug a SD card to your computer, start your disk image writer and write the Raspian .img file to the card by selecting the image and clicking the "Write" button
  5. Open the /boot partition of the SD card, and create a new file named "wpa_supplicant.conf"
  6. Add the following content to the file but replace <YOUR-WIFI-SSID> and <YOUR-WIFI-KEY> with the SSID (name) and password of your WLAN access point. 
    ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=AT

network={
    ssid="<YOUR-WIFI-SSID>"
    psk="<YOUR-WIFI-KEY>"
    key_mgmt=WPA-PSK
}
    If you use an unsecured access point (you shouldn't do this by the way) remove the psk key-value pair and set key_mgmt to NONE
  7. Create an empty file "ssh" (no file ending!) on /boot partition to enable ssh

  8. Start your Raspberry Pi and search on your WLAN access point which IP address your Raspberry Pi is using. Most access points provide a web interface you can use to find the IP address, however, the address of the web interface differrs from router to router. If you don't know it, open a browser and try 192.168.1.1, 10.0.0.1 or 10.0.0.138 to open the web interface and note down the IP address of your Raspberry.
  9. Open PuTTY, enter the IP address of your Raspberry Pi and click "Open". The default credentials are
Username: pi
Password: raspberry

It is recommended to change your password. To do so, enter

passwd

and change the default password.

  1. Next, install Git. You can do so by entering the following command on your Raspberry Pi shell:
sudo apt-get -y install git
  1. Download the AutCar library
git clone https://github.com/christian-vorhemus/autcar.git
  1. Change directory to enter the /src folder of the downloaded /autcar folder
cd autcar/src/
  1. Install the dependencies
python3 install.py

You'll get asked "Do you want to accept these changes and continue updating from this repository? [y/N]". Type in

y

Installation can take 30 to 60 minutes on a Raspberry Pi 3. A restart is required after the installation and will be performed automatically. If you want to prevent that, use the --prevent-reboot flag

python3 install.py --prevent-reboot

It can happen that installation fails due to network timeouts. In that case, just run the install script again until you see "Sucessfully installed AutCar platform!"

3) Download and install AutCar on your PC

Before you start, make sure that you have 64bit Python 3.5 or newer installed on your PC! Check the architecture by opening a cmd prompt and enter

python -c "exec(\"import platform\nprint(platform.architecture()[0])\")"

The output should be 64bit. Check the version by typing python --version. The version should be 3.5.x or higher. If you get the information that Python is not recognized as an internal or external command, install Python first. Windows users can download the executable here.

  1. We also need the AutCar library on our PC. Download the zipped library using this link

  2. On Windows, open a command prompt as an administrator, change directory to autcar-master/src and install the dependencies with

pip install -r autcar/web/requirements.txt

If you get the message that pip is not recognized as an internal or external command, make sure to add the pip binary to the PATH variable. For Windows, this procedure is described here.

  1. On a Windows PC, download and install the Visual C++ 2015 Redistributable Update from here

4) Connect to your car and drive!

  1. On your Raspberry Pi, start the sample remote control script rc_sample.py in the folder ~/autcar/src:
python3 rc_sample.py

Your car is now listening for commands (by default on port 8090). Important: You'll see warnings saying warnings.warn('Unsupported architecture (%s). ONNX Runtime supports 64bit architecture, only. Warning: Could not load Trainer - this is expected, you can ignore those. When you see Listening on :8090 as the last statement on the screen, your car is listening for commands and works as expected.

  1. On your PC, change directory into the src folder and start the web client with
python autcar/web/server.py

If you're getting the error message ImportError: DLL load failed: The specified module could not be found you are likely missing some libraries on your machine. If you're running Windows 10 N, try to install the Media Feature Pack first, restart and then run pip install again.

  1. Open a browser and enter the address http://localhost:8080. You should now see the AutCar Control Board:

  2. Enter the IP address of the car in the right upper corner and click on "Connect"
  3. Click on the car control buttons to manually move the car. The live camera won't be visible by default, see this section to learn how to turn it on.

You should now be able to control the car manually, great! Next, let's see how we can enable autonomous driving mode, click here to learn more.