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Earl Grey and The Boston Tea Party. Present The Entourage. Team Members. Casey Gold Ellen Prommersberger Nathan Winder Steven Anderson Tom Monikowski. Ellen. Purpose. Ease tedium of stop-and-go traffic Improve safety of rush hour driving. Ellen. Objectives.
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Earl Greyand The Boston Tea Party Present The Entourage
Team Members • Casey Gold • Ellen Prommersberger • Nathan Winder • Steven Anderson • Tom Monikowski Ellen
Purpose • Ease tedium of stop-and-go traffic • Improve safety of rush hour driving Ellen
Objectives • Use sensors to determine position of car relative to other vehicles • Control acceleration and breaking based on distance away from leading vehicle • Control steering to follow lead car • Demonstrate concept on RC vehicle Ellen
Concept Ellen
Turning the Car Ellen
System Overview Casey
System Architecture Casey
Processor and Memory Casey
FPGA Casey
Memory Mapping • Implement on FPGA • Code using Verilog Casey
Software • Accept values from sensors • Interpret as distances or hits/misses • Conditionally determine the course of action • Speed and turning • Handle user warnings Tom
SoftwareSpeedAdjustment Two major components to speed adjustments: • Relative velocities • Ideal distance Tom
Sensor Changes INFRARED • +/- 2” beamwidth at 0” - 60” • Single pin output (direct connect to A/D ports in HC11) • 50 ms period • $12 each ULTRASONIC • +/- 5º beamwidth(actually +/- 5.25” at 60”) • 13 pin output(requires about 7 FPGAs) • 1 cycle/second • $20 each Ellen
Sensors • Infrared analog output • Sharp GP2Y0A02YK • Range: 20 cm – 150 cm • Beam width: +/- 50mm Ellen
Sensor Data Data Sheet Reflectivity Curve Experimental Data Reflectivity Curve Ellen
RC Car Interface • Speed Control • Maintain following distance relative to speed • Constantly monitor speed of vehicle • Steering • Incremental adjustment system • Digital servos • Manual Control • Disengages with driver input changes • ENGAGE/DISENGAGE button • Audio/Visual User Warnings Nathan
Digital-Analog Conversion translates digital duty cycle to analog voltage DC Motor: Linear Relationship between Voltage and Speed Speed Control Functionality Nathan
Speed Control Interface Nathan
Steering Interface • Digital interface with I/O port on FPGA • Smooth servo transition from 0º - 90º • 0º corresponds to 6% duty cycle • 90º corresponds to 9.5% duty cycle Nathan
Manual Control Interface • RC controller operates at 75.75MHz • RC receiver outputs digital signals • Signals “RC SpeedControl” and “RC SignalControl” sent to FPGA • Change in signals indicates Manual Input/Override Nathan
User Warning Output • Warnings output digital signals from FPGA • Signal “IntWarning” to warn of potential problems • Slower frequency buzzing and flashing yellow LEDs • Signal “FinalWarning” to alert system disengagement • Faster frequency buzzing and flashing red LEDs Nathan
Power System Tether (120VAC – 15VDC) • 5 V Regulator • Sensors • Processor • Memory • FPGA • DAC • RC receiver • Servos • 3.3 V Regulator • EPROM • 15 VDC • DC motor • Current gain OpAmps • DAC Steve
Schedule Steve
Milestone One Full prototype functionality Milestone Two Implement on real Escalade Deliverables Expo • Full Distribution to 10,000 Dealers Nationwide • ROI: 100 Million Dollars Steve
Milestone Two Final Bug-infested Software Finalized Hardware mounted in vehicle Actual Deliverables Milestone One • Peripheral Hardware Tested and Built • Servos Mounted • Processor, Memory and FPGA fully functioning • Running preliminary Software Steve
Division of Labor • Casey – FPGA/Processor Setup, Programming • Ellen – Controls, Sensors, Quality Control • Nathan – Control Interface, Hardware Design, Construction • Steven – Power, Construction • Tom – Math, Sensors, Software Design Steve
RC Escalades (2) $70 ea Optoisolators 6N139 (6) $0.25 ea Infrared Sensors Sharp GP2Y0A02YK(7) $14.50 ea DAC MAX5312 $10 (adaptor socket) Buzzers/bicolored LEDs $1 ea Prototyping materials $25 PCBs 2-layer Board $33 per revision CPU 68HC11E0 FPGA XCS10 RAM CY62256 Flash ROM AT29C256 Bus drivers 74HC245 (2) Latch 74HC373 Assorted logic chips 8MHz clock EPROM XC18V256 OpAmps OPA548 (3) RC receiver and servos Parts and Prices Steve
Extra sensors Programming for highway driving (higher speeds) More accurate sensing for nonstandard vehicles NOS Wet or dry shot? Five 10” LCD screens Streetglow Blue Blinking? Possible Additions Steve
Wrap Up Haiku Escalade Rollin Entourage Wheels are Spinnin Bass that’s a Bumpin Steve