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Stop & Go Driving System. Group 16 Will Allen & Silpa Nannapaneni ECE 445 Senior Design November 30, 2006. Introduction. Stop & Go Driving System is an adaptive cruise control system that maintains a safe driving distance from the vehicle ahead Our system is modeled using R/C cars

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stop go driving system

Stop & Go Driving System

Group 16

Will Allen & Silpa Nannapaneni

ECE 445 Senior Design

November 30, 2006

introduction
Introduction
  • Stop & Go Driving System is an adaptive cruise control system that maintains a safe driving distance from the vehicle ahead
  • Our system is modeled using R/C cars
  • System is designed for low speed applications
benefits
Benefits
  • System would allow the driver to do something else while in stop & go traffic
  • Could prevent accidents
    • Reduces reaction time
  • Implementation of system could improve traffic flow
features
Features
  • Infrared proximity sensor measures 20-150 cm
  • Reflective object sensor measures the speed of the car
  • Speed is displayed on LCD
  • Microcontroller will automatically adjust the speed of the car to maintain a safe driving distance
sensor overview
Sensor Overview
  • Speed Sensor
    • Reflective object sensor detects white strip on the tire and sends output to microcontrollers.
  • Proximity Sensor
    • Sharp GP2Y0A02YK infrared proximity sensor
    • Range of 20 to 150 cm
proximity sensor output
Proximity Sensor Output
  • Measured output of proximity sensor for distances ranging from 10 to 185 cm
  • Output becomes inconsistent for distances > 150 cm
microcontroller overview
Microcontroller Overview
  • Motor Microcontroller
    • PIC16F877A microcontroller receives analog inputs from speed sensor and proximity sensor
    • Measures period between pulses from speed sensor input
    • Calculates speed = 2πR / period
    • R = Tire radius for the R/C car = 3.5 cm
    • PIC calculates safe driving distance based on sensor inputs
adc values for proximity sensor
ADC Values for Proximity Sensor
  • Measured output of PIC analog to digital converter values for various voltages
  • Correlated ADC values to corresponding distances from proximity sensor
speed detection
Speed Detection

Ch. 1: Speed pulse waveformCh. 2: PIC measurement of periods

following distance calculation
Following Distance Calculation

Stopping Distance (m) = 0.5435*Speed (m/s) + 0.2786

Following Distance (m) = Stopping Distance (m) + 0.15

motor control pulses
Motor Control Pulses

Neutral  1.4ms Pulse

Forward  > 1.4ms Pulse

Reverse  < 1.4ms Pulse

microcontroller overview16
Microcontroller Overview
  • Display Microcontroller
    • PIC16F877A microcontroller receives input from speed sensor
    • Measures period between pulses
    • Speed = 2πR / period
    • R = Tire radius for the R/C car = 3.5 cm
    • Outputs speed to speedometer
power supply
Power Supply
  • Two 7.2V 600mAh R/C car batteries
    • One battery powers circuit components
    • Max current for our circuit is 80 mA
    • Second battery powers R/C car motor
  • Toggle switch turns system on
  • 5V voltage regulator added to second car to improve control
successes
Successes
  • Proximity sensor was very accurate
    • Within 3 cm of actual distance
  • Motor control
    • Adjustment of acceleration
  • Speed calculation for Motor Microcontroller
    • Period measurement was only off by 5ms
challenges
Challenges
  • Extreme sensitivity of speed sensor
  • Speedometer was inaccurate during acceleration and would not display at times
  • Analog multiplexer would not allow communication of receiver with our system
recommendations
Recommendations
  • Usage of multiple proximity sensors could reduce system failures
  • Addition of analog multiplexer
  • Analog speedometer instead of using LCD
ethical issues
Ethical Issues
  • Reliability of range finding sensors
  • Usage of the system could decrease driver’s focus