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ECE Capstone Fall 2007. Team RIDE. Team RIDE. Group Members: Brennan Dayberry Adam Marrapode James McGlynn Ben Sufit Chris Taylor. R ealistic I nteractive D riving E xperience. 3D Visual Model. The Design. “Realistic Interactive Driving Experience” - Cockpit

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team ride

Team RIDE

Group Members:

Brennan Dayberry

Adam Marrapode

James McGlynn

Ben Sufit

Chris Taylor

Realistic Interactive Driving Experience

the design

The Design

“Realistic Interactive Driving Experience”

- Cockpit

- Linear/hydraulic actuated motion base

- Multi-directional Force Feedback

- Driving Simulator

- rFactor

- Provides recorded real life physical forces acting on car into “realistic” simulation forces (signals sent to driving simulation hardware is known as force feedback)

goals
Goals
  • Realistic real-time cockpit movement based on simulated forces experienced during game play
    • Motion-based system
      • 3 degrees of freedom via 3 linear/hydraulic actuators and a center of mass ball pivot joint
      • Control system to implement force feedback signal into motion base
        • Extract and translate game telemetry data into physical movement of cockpit
  • Immerse the user in a wide range of realistic driving experiences through simulation
    • Driving etiquettes
      • Formula 1, Formula 2, Indy Car, Stock car, Rally, GT1/ GT2/GT3 Sports Car Class, Le Mans
      • HD track simulations
        • Simulated driving on tracks such as, Nuremburg Ring/ European Grand Prix in Germany, Canadian Grand Prix in Montreal, USA Grand Prix in Indiana, and 100’s of others
features
Features
  • 3 degrees of freedom to enhance pitch, roll and yaw of driving experience
  • Full scale cockpit with real racing components
    • Logitech G25 steering wheel, pedals (clutch, brake and gas), and 6-speed shifter assembly
    • Sparco racing seat
    • 5 point harness seatbelt system for safety
  • Selective force feedback strength (driver preference, e.g. Miss Daisy or James Bond)
outline of approach
Outline of Approach
  • Modularize components to improve reliability and ensure complete and accurate operation
  • Design, build, and test modules independently and in parallel
  • Provide contingency and risk-aversion by ensuring individual modules function as desired so that we have something that works
sub systems
Sub-systems
  • Controller and Logic
  • Telemetry PC Driver
  • Communications
  • Actuators/Hydraulics
  • Analog/Digital signal processing
  • Power
spartan 3 fpga controller
Spartan 3 FPGA Controller

Converts commands from Telemetry Plugin to actuator control

Use MicroBlaze soft-core to run actuator control feedback loop

Initially use development board, then custom PCB

telemetry pc plugin
Telemetry PC Plugin
  • Rfactor racing plug-in exposes internal simulation data to 3rd-party developers
    • Velocity, Acceleration, Motion Matrix, Car Status, Terrain*
  • Extract game data, process using software filter (convert to controller commands), send to controller
    • RS-232 interface, original command protocol
  • Two different original modules involved in design
    • Testing module and actual implementation module
testing module
Testing Module
  • Written in C
  • Sends commands to controller board via serial port (RS-232)
  • Uses set testing routines (standard functionality) and real-time user control (boundary conditions)
    • Tests all “action profiles”
  • Logs all sent data in a standard file format
    • Separate analysis model for error isolation
  • 1-way communication with controller board
plugin module
Plugin Module
  • Extract all data from game using plugin class structures
  • Send game data to filter module
  • Filter module sifts data, reduces and converts to controller format, sends data to controller
    • Implements decision scheme for “relevancy”
      • Relevancy = major changes in motion, “action data”
    • Simple sampling scheme
  • Module sends over RS-232 at set frequency
game interaction details

Game Telemetry built into struct of plugin:

struct TelemInfo

{

...

World position in meters (possible terrain data)

Velocity of local vehicle

Acceleration of local vehicle

Rotational accleration

Pitch, Yaw, Roll

Engine RPM

...

}

Telemetry information selected for update in game plugin, can be sent directly to filtering module

Game-Interaction Details
communications protocol
Communications Protocol
  • Simple vs. “Profile” movement
    • Simple movements include one direction
      • Up, down, right, left
    • Profile movements are superposition of simple movements along with a force
      • Example: Profile 1 = (Up + Left) * Force
      • Force value based on conditions (acceleration, angle)
    • Simple movements converted to profile movements on PC. Only profile movements sent to controller
  • Controller must decide if profile can be used
    • Receive movement -> check actuator status -> movement decision -> send/reject movement
communications protocol cont
Communications Protocol, cont.
  • Profile actions continuously sent at regular intervals
  • “Special” action profiles for no movement, different crashes, bumps, stall, startup
  • Actual action rate determined through testing
    • Base rate prediction: 3 Actions/Second
    • Subject to change based on actual actuator speed and recovery
actuator hydraulics ideal specs
Actuator/Hydraulics Ideal Specs.
  • 6 to 9 inch stroke
  • At least 8 inches per second stroke speed
  • Weight support greater than100 lbs. each
  • Pillar at center of mass with ball joint to support weight
  • Each hinge joint on actuators must have ball joint for freedom of motion to avoid buckling
power
Power
  • PC and LCD display powered by 110 VAC
  • Most hardware like FPGA and logic components powered by low voltage DC
  • Actuators powered by low voltage variable DC, or single-phase AC
  • Power needs will be relatively simple and easy to design
timing
Timing
  • Risk: Will the controller and actuators be able to keep up with the game?
  • Contingency plan: Move most of the intensive code to PC Telemetry Plugin to maximize speed.Use actuators with relatively high stroke speed
slide24
Time
  • Risk: Do we have enough time to build this?
  • Contingency plan: Order parts far ahead of time. Know mechanical engineers. Make wise “Build/Buy” decisions. A lot of coffee.
cost and use of actuators
Cost and Use of Actuators
  • Risk: None of us have used actuators extensively before, and the cost is potentially high. Also most electric actuators are slow
  • Contingency Plan: Try to get donations and use simple actuators. Use levers or similar system to speed up actuators
failure to achieve control
Failure to achieve control
  • Risk: It is possible that feedback loops will be hard to stabilize, or that the number of control signals we are managing will be too overwhelming
  • Contingency Plan: Allow for slower movement to slow down loops, only try to have a few very simple profiles for movements
possible extensions
Possible extensions
  • Tachometer and gauges exported to cockpit
  • Gyroscopic cup-holder
  • Make soup