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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 grey and the boston tea party

Earl Greyand The Boston Tea Party

Present

The Entourage


Team members
Team Members

  • Casey Gold

  • Ellen Prommersberger

  • Nathan Winder

  • Steven Anderson

  • Tom Monikowski

Ellen


Purpose
Purpose

  • Ease tedium of stop-and-go traffic

  • Improve safety of rush hour driving

Ellen


Objectives
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
Concept

Ellen






FPGA

Casey


Memory mapping
Memory Mapping

  • Implement on FPGA

  • Code using Verilog

Casey


Software
Software

  • Accept values from sensors

    • Interpret as distances or hits/misses

  • Conditionally determine the course of action

    • Speed and turning

  • Handle user warnings

Tom


Software speed adjustment
SoftwareSpeedAdjustment

Two major components to speed adjustments:

  • Relative velocities

  • Ideal distance

Tom











Sensor changes
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
Sensors

  • Infrared analog output

  • Sharp GP2Y0A02YK

  • Range: 20 cm – 150 cm

  • Beam width: +/- 50mm

Ellen


Sensor data
Sensor Data

Data Sheet Reflectivity Curve

Experimental Data Reflectivity Curve

Ellen


Rc car interface
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


Speed control functionality

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
Speed Control Interface analog voltage

Nathan


Speed control hardware design
Speed Control Hardware Design analog voltage

Nathan


Steering interface
Steering Interface analog voltage

  • 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
Manual Control Interface analog voltage

  • 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
User Warning Output analog voltage

  • 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
Power System analog voltage

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
Schedule analog voltage

Steve


Deliverables

Milestone One analog voltage

Full prototype functionality

Milestone Two

Implement on real Escalade

Deliverables

Expo

  • Full Distribution to 10,000 Dealers Nationwide

  • ROI: 100 Million Dollars

Steve


Actual deliverables

Milestone Two analog voltage

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
Division of Labor analog voltage

  • 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


Parts and prices

RC Escalades (2) analog voltage

$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


Possible additions

Extra sensors analog voltage

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
Wrap Up Haiku analog voltage

Escalade Rollin

Entourage Wheels are Spinnin

Bass that’s a Bumpin

Steve


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