I race RC cars on a Friday night at Newbury RC Club in Greenham Business Park, and as a geek have wondered how easy it would be to get a self-driving car around the track

I had originally thought about trying to get the car controlled by Arduino (I have a Duemilanove), using Ultrasound sensors to detect obstacles (the track). However, having now studied the Computer Vision unit of the course, it seems that using a camera, and linear filters to detect obstacles will be a better solution.

There is some in car footage here:

The camera here is a little low – a higher viewpoint might offer better images. The track  seems to offer easy differences for feature detection – plain grey carpet, with white drainpipe/yellow bollards for edges.

Transport
Andy had hoped to leave his car in Brighton the night before, but with his new bike only ready at 4pm in Swindon, and a power failure in Haywards Heath delaying all trains, he returned to Clapham after 9pm, leaving little time for essential tinkering (removing reflectors, bells, even newer tyres, etc.!)

Sleep
The early night didn’t really happen (sometime after 11pm), and the sounds of Clapham nightlife, along with nervousness, conspired against much sound sleep.

Setting off to the start line
After a quick piece of toast, and final checks of bags, we set off at 6.30am and cycled the 4 miles to Roehampton University, joining another competitor for friendly banter on the way.
The centre was clearly signed, and we quickly registered. The three portaloos in the courtyard were tempting but locked, so sadly we were restricted to just 2 loos with no paper – not a good start BHF.

Tunde - at high speed!

Andy decided to tinker with his new bike; fortunately he was able to borrow a proper pump from mobile mechanics to replace the air lost from his suspension forks!

Tunde, Jon and Leo turned up shortly after, and we eventually mounted up and were allowed to leave in a batch at around 7.50am.

Thames out of London
During the first few miles, we set a blinding pace of around 15mph, reaching the first checkpoint (16 miles) in just over an hour – mind you the Sustrans no.4 path from Richmond Park to Weybridge was smooth and flat all the way. The route avoided most busy roads, threading through the edge of Byfleet before we were able to switch onto the first bridleways.

Byfleet to Shere
Crossing both the M25 and M3 by footbridge, we misunderstood one marker on Wisley Common, but quickly rejoined the route after only 1/4 mile or so – this proved to be the only misleading sign – a credit to the organisation team. More bridleways and paths took us to the A road crossing near West Clandon, just East of Guildford. Another credit to the orgainising team were the large number of volunteers manning the marshalling points, generally holding gates open or watching for traffic at busy roads. Our group of 5 kept together as best as we could, overtaking others where the opportunity rose, briefly stopping when required, then re-overtaking…

However, this was where the fun started. A long climb South from Blake’s Lane farm heading up into the North Downs was the first test of the day – an easier road section then lead into fairly easy singletrack, but slow due to other riders. Checking the map, I noticed the importance of the next road section, and told Andy and Jon. Reaching the road, we were shouted at by an arrogant roadie on another race, blasting through in the opposite direction – but I quickly joined, and blasted along the flat road section past two large groups totalling 20 or so riders – fortunately Andy took the hint!

Andy - after Beeding Hill climb

Near the bottom, there was a hairpin, steep drop, hairpin, then into a tunnel under the main road – slightly worrying as sunglasses rendered the ground pitch black – freewheel and hope for the best! Soon after we emerged into Shere, then regrouped and exchanged stories.

Shere

Jon, looking fresh as always

Finishing the North Downs
A brief climb from Shere, but there then followed a very long, but nicely shaded climb through Winterfold Wood. At some point Leo on the climb Leo had fallen, and suffered a slight graze to the arm, made worse by rolling on the ground in dog poo…but Jon helped clean his arm. Jon also proved his legendary climbing ability,, by managing to catch and pass me even with a long headstart – it wouldn’t be the last time. We regrouped at the top before navigating a road section over the hill, then onto another bridleway downhill – I let Andy take the lead this time, he soon disappeared ahead! A quick dog-leg on minor roads linked us onto the Downs Link.

Downs Link

Leo, on Beeding Hill

As we had not found water in Shere, by this point most of us were running low or out – which might explain the problems encountered. Leo had by this point fallen off, so on reaching Cranleigh, we ventured into M&S – mainly due to Andy’s chocolate cravings.

Shortly afterwards, we reached the Cranleigh sports centre, and found the water tap, to everyone’s relief. More energy bars, sachets of energy powder into water, and photo opportunities!

Having spoken to the wife on the phone, while idling for the rest to get started, I realised we didn’t have any footage of us actually riding the event – and for the keen sponsors who have managed to read this far I knew I’d have to remedy the situation. So with my trusty Nokia N95 in one hand, and the other steadying the bike, I tried out taking pictures on the move, first of Tunde (and he took some of me), then I rode up alongside Leo. Oh dear, maybe I should have made my intentions clearer – anyway, I locked bars, and went down – hard. Two nice deep holes in the left knee and other sundry abrasions were covered up with melonin, and fortunately Jon had a bandage, and Leo had safety pins.

You’ll be glad to know it didn’t stop me, and you can hopefully see the video footage above.

South Downs
We reached Bramber (63 miles) by around 3pm (I think), and had a 10 minute stop at the checkpoint (handily located at WC). The final challenge had been looming larger, as we had been approaching, but now the hour of reckoning was here. Due to the obvious differences in styles of riding, we agreed to meet at the top of the climb – Jon and Andy disappeared into a garage for water, while I tweaked a bolt to stop my saddle creaking, and Tunde headed on. I followed Tunde at a distance along the main road, then we turned off and headed up the main climb up Beeding Hill.

The climb was moderately steep, but at times loose and rocky, but also with the occasional drain cover to negotiate. But the main negative point was the relentless way the climb just seemed to go on and on and on. Strength and technique certainly played their part in reaching the top, but willpower and gritty determination were probably stronger factors. I passed Tunde first, ignoring other riders ahead, and kept my head down. The next rider I passed complimented me, and the next was Leo. I had thought he had stopped in the garage, but it was nice to see another familiar face at this point – spirit was starting to flag. In the back of my mind I had this inkling that it wouldn’t be long before I heard the familiar creak of Jon’s saddle, and sure enough he passed me 3/4 of the way up the climb – but by this point the end was in sight.

Victory, we made it to the car park, and slowly circled, trying to avoid the lactic buildup that slowed every previous restart after a pause while we waited for the others to reach us. A quick check of the map seemed to indicate that a lesser gradient road climb would take us to the highest point, before downhill all the way to the coast.

The view from Truleigh hill (200m)

We regrouped, then headed down the grassy slopes to the coast – into a headwind. After all that effort, the disappointment of having to pedal downhill (and a few slight ups) was upsetting.

Coast to Brighton
We negotiated the suburbs of Southwick, and crossed the harbour to join the coast road through Portslade-by-sea (a very dull road past industrial docks), drafting each other to save energy on the fast tarmac. Continuing on through Hove, we joined mixed pedestrian/cyclist paths along the seafront until we finally reached Brighton.

Finish
The Esplanade in Brighton was very busy with tourists, police officers, and pre-Labour conference hangers-on – slightly impeding progress, but the sight of the BHF banners spurred us on the the finish. A nice and unexpected surprise was the round of applause from the spectators for each and every rider. Checking in a final time, we received a t-shirt and medal at around 4.15pm.

We completed the course in around 8.5 hours – but my speedo gives slightly different figures – 6:14:29 (rolling time), average 12mph, top speed 34mph.

Until next year!

More photos available here

The route started with some fast singletrack through woods which was a promise of good things to come. There wasn’t too much tarmac (compared to the Gatwick ride), and there was a wide variety of terrain (sand, mud, rock). Tunde and I marvelled at Jon’s ability to storm up the climbs; particularly the steepest climb that reminded me of some of the climbs from the Evans Cycles Cotswolds ride.

Slipstreaming on a brief road section

Tunde

Andy had borrowed a Scott Genius from Red Planet Bikes in Swindon (as his Orange 5 still hadn’t turned up), so we played for a bit in the car park before setting out. I managed to get us lost looking for an old haunt (Caesar’s camp), before we headed to Lower Star Post, followed by Surrey Hill. After playing around on a drop in at the top of the hill, we headed into the closest section of trails, finding nice singletrack threading through the valleys.

Near the bottom we met some friendly locals, who suggested more trails (over 1.8km), so we returned to the top (only Andy made it up the steep and loose climb!) before trying another route from the next rise south east of Surrey Hill. This next route again pleasantly threaded through the trees. We attempted the same climb, and again were shown how to complete it by Andy on the Scott Genius.

Andy’s insistance to venture to the 2nd summit from Surrey Hill paid dividends; we met some more riders (with freeride clothing and bikes), and one of them lead us down the left hand route. This route was frankly awesome! Fully bermed switchbacks lead straight from one to the next, with a few tabletops and jumps thrown in for good measure. This lead into “The Labrynth”, another long singletrack section, both with uphill and downhill sections and plenty more bermed corners.

The exit from the Labryth dropped a few feet onto a fireroad – I foolishly attempted to jump this, and caught my back wheel on the lip, resulting in a full forward rotation and head first landing. Fortunately I came away with only grazes and bruises, and the bike didn’t suffer. Still we resolved to climb back up and do both trails again (and I rode the drop the second time!).

Overall a great day, probably around 20 miles in total, plus a couple more in Basingstoke.

I fell off once on a downhill, when a wheel track turned into a deep rut; need a more positive mental attitude about not crashing! Mind you, more likely I need new batteries or better lights; maybe it’s time for 5am training rides…

Lunch stop is in Shere, so maybe I can find out how Simon’s innings is going; rather more worrying is the estimates on the map of 10+ hours…

15.6 miles, in 1hr 16 – however, due to the late start (19:35) I had to head back to Basingstoke early as the light had failed completely, sadly missing the singletrack downhill heading north out of Farleigh Wallop.

Woking to Basingstoke Canal

I caught the train to Woking, then joined the canal path for a fairly smooth ride home.

At just over 40 miles (40.3 miles), it was a challenge, but fortunately my legs didn’t cramp up this time.

Woking to Frimley

Drained Canal

The first section was fairly easy, and it was nice to see the locks along the route (I counted to around 21, but it was too easy to lose count). At around this point the route was diverted away from the canal (for maintenance), and around the back of a military base. I was suprised to see that caravans are so popular with the army, with around 20 stored in the base.

Frimley to Farnborough

I picked up the pace here, only to be told off for going to fast by a dog walker (although at the time I was following a couple of joggers shambling along).

Farnborough to Fleet

I hadn’t realised the proximity of the canal to the airport runway – I watched a private jet take off. Slightly surpised by the fishermen where I ‘d expect plane spotters; doesn’t it frighten the fish?

A quick stop-over in Fleet to visit Drew, and he kindly lent me a Comm Lathe and spare t-bar.

Fleet to Odiham

I passed over familiar routes near Winchfield, remembering working for Bluhalo in the barn; and the lunchtime walks with colleagues along the canal. I also found Odiham Castle, a ruin worth investigating further with the children.

Odiham to Basingstoke

Greywell Tunnel Entrance

The canal finally runs out at Greywell, at the entrance to the Greywell tunnel (1230 yards long). I learnt the origin of the term ‘leg it’ – with no path in the tunnel, to lean on a barge and push against tunnel walls with your legs. Sadly the tunnel collapsed in the 1950′s, so no route through anymore.

Greywell Tunnel Information 'Leg it'

I’m adding Greywell to the list of places I’d like to move to and live in; it joins Deane and Dummer! Greywell hill was quite a challenge, then on through Upton Nately, finally crossing the A30 into Hatch, Old Basing and back via the railway line into Basingstoke. A final diversion took me up the hill via Houndmills into Winklebury.

BHF London to SouthCoast ride

Well, this was the first real challenge in the training for the BHF London to Brighton ride. 33 miles, mainly up and down, in the Cotswolds. Evans Cycles had laid on another good event, well mapped out and marked (I only got lost a couple of times). Some of the climbs were vertical and slippery, especially around the north of Wotton-under-edge; sadly resulting in some pushing!

I also spotted some North Shore in the woods near North Nibley – would have been nice to have had more time to have a go…

33.6 miles in total, completed in just over 4 hours – half an hour spent not riding; a few times getting lost, but one major cramp in my right thigh causing me to sprawl around on the side of the trail in the middle of nowhere!

Evans Cycles Cotswolds Organised MTB ride on 15/08/2009

Part 1 (before battery died – thanks sportstracker!)
Part 2 (spare battery)

Results

A few more minor rides, then training with team mates Tunde and Andy in Swinley Forest, potentially another Evans ride at Liphook, then the event itself.

Bring it on!