Automatic valet parking
This presentation is the property of its rightful owner.
Sponsored Links
1 / 53

Automatic Valet Parking PowerPoint PPT Presentation


  • 241 Views
  • Uploaded on
  • Presentation posted in: General

Automatic Valet Parking. Senior Design Project Spring 2009. Majid Hasan Andrew Muehlfeld David Sheridan. Outline. Introduction Design & Test Keychain GPS Chips Wireless System Car Sensors Navigation MSP430 Car Control Conclusion. Outline. Introduction Design & Test Keychain

Download Presentation

Automatic Valet Parking

An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript


Automatic valet parking

Automatic Valet Parking

Senior Design Project

Spring 2009

MajidHasan

Andrew Muehlfeld

David Sheridan


Outline

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Outline1

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Introduction

Introduction

  • Automatic Valet Parking

    • “Unparking”

  • Car & Keychain


Outline2

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Design high level diagram

Design – High Level Diagram


Outline3

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Design keychain

Design - Keychain


Design keychain1

Design - Keychain


Outline4

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Gps chips

GPS Chips

  • Garmin 15H

  • RS232 Interface – to MAX 232

  • MAX 232 to Wireless Transmitter

  • Same message from Keychain and Car

    • Parsed in microcontroller on Car

    • Checksum computation & comparison


Gps testing

GPS Testing

Distance Between Final Resting Place and Target

Distance Between Two Chips at Same Point


Gps challenges successes

GPS Challenges & Successes

  • Only works outside

  • Only updates once per second

  • RS232 – T.T.L. Conversion

  • Slow fix

  • Programming

    • Preferred Message

    • Slower Bit Rate


Gps recommendations

GPS - Recommendations

  • Use SiRF Chips

    • Faster update rate

    • Faster initial fix

  • Use 3.3V Chip


Outline5

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Wireless system

Wireless System

  • Linx Chips

    • Linx HP Series

    • Linx LR Series

    • Linx LT Series


Wireless system testing

Wireless System - Testing

  • Distance Testing

    • Max Distance: 18m

    • Min Time: 4s

  • Spectrum Analyzer

  • Oscilloscope


Wireless system challenges

Wireless System - Challenges

  • Three CompEs learning to use antennas

  • Linx High Performance

    • 900 MHz

    • Max Range: 5m

  • Linx Long Range

    • 418 MHz

    • Max Range: 18m

    • Thanks James Doran


Wireless system challenges1

Wireless System - Challenges

  • Impedance Matching Antennas

    • Broken Chip

    • Replaced with LT (Transceiver)

      • Thanks Again James Doran

  • Ground Plane Design

    • Thanks Professor Makela

  • Bit Errors

    • Reduce Data Rate on GPS Chip


Wireless system recommendations

Wireless System - Recommendations

  • Use Linx Long Range series


Outline6

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Design car

Design - Car


Design car1

Design - Car


Outline7

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Sensors

Sensors

  • Implementation

  • Testing

  • Challenges & Successes

  • Recommendations


Sensors implementation

Sensors – Implementation

  • Three sensors mounted on front

  • Sensor-based navigation may override GPS-based navigation

  • Analog voltages go to ADC on MSP430

  • Sampled ten times per second


Sensors testing

Sensors – Testing

  • Policy tested through debugger with motor disconnected

  • Integration tested through actual field test and debug LEDs

  • Determined actual range of sensors compared with theoretical range


Sensors testing1

Sensors – Testing


Sensors challenges

Sensors – Challenges

  • Optimizing false alarms vs. false misses

  • Proper sensor placement

Image from maxbotix.com


Sensors recommendations

Sensors – Recommendations

  • Three rear sensors for rear obstacle detection

    • Permits safe reversing


Outline8

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Navigation

Navigation

  • Implementation

  • Testing

  • Challenges & Successes

  • Recommendations


Navigation implementation

Navigation - Implementation

  • The car moves according to GPS information unless it finds an obstacle

  • The car stops moving within five meters of its target

  • Proportional control is used to steer car toward its heading


Navigation implementation1

Navigation - Implementation


Navigation testing

Navigation – Testing

  • GPS Navigation

    • Proportional control (originally PID) needed tuning to avoid instability and reduce oscillation via field testing

  • Sensor Navigation

    • Made sure car returned to GPS navigation when sensors not obstructed


Navigation challenges

Navigation – Challenges

  • Avoiding proportional control instability

  • Eliminating initial condition instability

  • Minimizing proportional control oscillations


Navigation recommendations

Navigation – Recommendations

  • Add derivative control

    • Needs to be suspended occasionally to avoid instability

  • Decrease stopping range

    • Optimal distance could be further tuned


Outline9

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Microcontroller

Microcontroller


Microcontroller implementation

Microcontroller – Implementation

  • The “brain” of the car

    • Reads GPS coordinates and sensor data

    • Determines the speed and direction

  • Features

    • USART serial communication

    • Analog-Digital Converter

    • Pulse Width Modulation


Microcontroller testing

Microcontroller - Testing

  • Simulations

    • Model realistic behavior

    • Determine if input corresponds to appropriate output

  • JTAG Debug Interface

    • Allows realtime debugging

  • LED Array

    • Easily monitor current state of MCU


Microcontroller challenges

Microcontroller - Challenges

  • Obtaining hardware

    • Debug board required, expensive

  • Code size limit

    • Software quickly exceeded trial limitation

    • Obtained non-limited software from TI

  • Interfacing with devices

    • Configuration can be tedious

    • TI provides user guide and code examples


Microcontroller recommendations

Microcontroller - Recommendations

  • Would use this type of MCU again

    • Feature-rich

    • Fast

    • Relatively easy to use

    • Good documentation


Outline10

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Car control implementation

Car Control - Implementation

  • Steering Servo

    • Sets car direction based on pulses from MCU

    • Pulse width determines degree of turn

  • Electronic Speed Control

    • Controls motor speed by setting duty cycle

    • Amplifies voltage from MSP signal


Car control

Car Control


Car control testing

Car Control - Testing

  • Steering Servo

    • Wrote MCU software to test range of motion

    • Checked that wheels fully turn

  • Electronic Speed Control

    • Wrote software to test range of duty cycle

    • Monitored behavior on oscilloscope


Car control challenges

Car Control - Challenges

  • Steering Servo

    • Original servo on car did not work

    • Replaced servo, worked perfectly

  • Electronic Speed Control

    • Original Speed control also did not work

    • Purchased RC car ESC, impossible to program

    • Replaced with simple motor control circuit


Car control recommendations

Car Control - Recommendations

  • Steering Servo

    • This unit works perfectly

  • Electronic Speed Control

    • Modify unit specifically for RC car control

    • Car speed is sporadic

      • Due to uneven surface, draining battery

      • Monitor current speed and adjust duty cycle


Outline11

Outline

  • Introduction

  • Design & Test

    • Keychain

      • GPS Chips

      • Wireless System

    • Car

      • Sensors

      • Navigation

      • MSP430

      • Car Control

  • Conclusion


Conclusion

Conclusion

  • Many Fields

    • Control Systems

    • Communications

    • Radio Frequency

    • Remote Sensing

    • Embedded Software

  • TI Analog Design Contest


Acknowledgements

Acknowledgements

  • James Doran

  • Peter Hedlund

  • Jim Lange

  • Professor Makela


Automatic valet parking

End


  • Login