Autonomous People Mover Phase II - Sensors P15242 - MSD 1 - FINAL - - PowerPoint PPT Presentation
Autonomous People Mover Phase II - Sensors P15242 - MSD 1 - FINAL DESIGN REVIEW 1 The Team Member Role Program Nathan Biviano Project Manager & Integration IE Madeleine Daigneau Software Design & Hierarchy CE James Danko
P15242 - MSD 1 - FINAL DESIGN REVIEW
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Member Role Program Nathan Biviano Project Manager & Integration IE Madeleine Daigneau Software Design & Hierarchy CE James Danko Sensor Integration EE Connor Goss Microcontroller Integration CE Austin Hintz Camera & Sensor Integration EE Sam Kuhr Power Systems EE Benjamin Tarloff Engineering Lead & Mounting ME
○ Project Background ○ Team Overlap ○ Scope ○ Customer Requirements ○ Engineering Requirements ○ Risk Assessment
○ Power ○ Sensors ○ Wiring Schematic ○ Controls ○ CAD Drawings ○ Software ○ Demo ○ Budget Update ○ MSD 2 ○ Test Plan
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Please give feedback on any topics you have suggestions for.
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The Rochester Institute of Technology wishes to re-enter the field of research in vehicle autonomy. Autonomy is becoming more and more important as automotive standards leave fewer vehicle functions to the human user. Autonomous vehicles offer significant improvements in roadway safety and traffic flow. The base of this project is the work started by the Autonomous People Mover Phase I team.
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*Does not depict true amount of overlap.
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Phase I
Phase II
Drive
Detection & Avoidance
Override Phase III+
& reverse)
Avoidance
Objects
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Selected the VFK600-D48-S12 from previous review
(~$450) or more
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interface box
switch on internal LAN
software, making this a plug and play sensor
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serial, 4800 Baud
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can work from
Dijkstra’s algorithm but this is more than likely outside of our scope
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Ethernet
connecting LIDAR, both cameras and the processing computer
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with cooling
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Arduino Due x3
functionality
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Arduino Mega
connected to computer via USB
necessary)
Processor
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Arduino Micro
connected to computer via USB
Ambassador
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Remote Controll er Receiver uController Braking Actuator Gas Pedal Actuator Controller Computer Motor Brake Pedal
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Remote Controller Radio Receiver uController WickedBilt Power Steering System Current Steering Column Computer
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Angled Base Camera Base Plate Camera Bases
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LiDAR Ball Mount Ball Mount Base Cart Roof
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Budget Remaining: $1,285.00
Estimated Costs: $195.51
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*Done within first 2 weeks of MSD 2
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1. Measure all lines for proper signals and ensure all connections are properly made. 2. Power up only essential systems and run a signals check. 3. Run simplified codes to ensure proper circuit operation prior to hooking up to physical systems. 4. Begin by testing only individual systems to ensure safety. 5. Test control system code at standstill conditions for steering and braking prior to introducing throttle system. 6. Test Throttle and Steering Integrated Control system without steering control system (manually steering) 7. Test Steering Control System without throttle or Brake. 8. Integrate All control system with low limit
9. Slowly Ramp up speed to 5mph and possibly higher time depending
smooth out and non-ideal behavior 11. Test the ultrasonic sensors on accuracy for different materials, distances, and angles
sensors work 13. Test radar for accuracy for different materials, distances, and angles
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distances 15. Record LiDAR and Camera Data during test drive
17. Test GPS waypoint program for GPS navigation (after testing controls)
calibrated correctly
to work properly
(wheel position) 27. Test holes in roof to ensure waterproof seals.
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