Detailed Design ReviewP16241 – AUTONOMOUS PEOPLE MOVER PHASE I I I

Team

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Agenda•Problem Definition Review• Background• Problem Statement• Project Scope• Customer Requirements• Engineering Requirements

• Detailed Design• Mounting• LiDAR• Ultrasonics

• Emergency Stop• Throttle Stock Mode Override• Steering Control/Improvements• Input/Output Layout• Vehicle Simulation• High-Level Software Block Diagram• Mode Control Diagram• Purchasing Plan• Risk Assessment• MSD II Preliminary Schedule

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BackgroundRochester Institute of Technology is re-entering the field of autonomous vehicle research.

Research and development of autonomous vehicles are becoming more and more popular in the automotive industry. It is believed that autonomous vehicles are the future for easy and efficient transportation that will make for safer, less congested roadways.

Our project will follow the work completed by the Phase I and II teams.

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Problem Statement•Current State• There have been two phases of this project so far. The first phase focused on modifying a golf

cart into a remote controlled vehicle. The second phase is working on adding autonomous functionality to the APM in highly restricted settings

•Desired State• APM is capable of localization, path planning, path following, and object avoidance. APM

provides a simple human-machine interface which displays diagnostic information. Passengers have the ability to take control of the vehicle whether it is moving or stationary

•Project Goals• APM can drive autonomously on a closed course while avoiding static and moving obstacles,

staying on the designated path, and maintaining the safety of passengers and bystanders

•Constraints• Phase II & CE Team accomplishments; budget; time for research; course characteristics

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Project ScopePhase I Phase II & CE Team Phase III

• Remote control

• Manual override

• Remote subsystem

functionality

• Basic path following

(GMAP/SLAM)

• Electronics enclosure

• Touch screen mounting/basic

GUI

• Mounting of LiDAR & sensors

• Object detection

• Algorithms to utilize LiDAR &

ultrasonics

• Fully waterproofing electronics

• Path planning

• Basic user interface

• Emergency stop

• Redesign of main PCB

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Customer Requirements

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9

3

1

Required functionality for completion

Highly recommended functionality

Preferred functionality

Key

Customer

Rqmt. #Importance Description

CR1 9 APM must, at a minimum, be able to operate within a closed course in autonomous mode

CR2 9 APM must move forwards in autonomous mode

CR3 9 APM must have intelligent vehicle control: driving

CR4 9 APM must have intelligent vehicle control: steering

CR5 9 APM must have intelligent vehicle control: braking

CR6 3 APM must re-route path to avoid obstacle

CR7 9 APM must be able to detect obstacles and brake

CR8 3 APM must exhibit localization

CR9 3 APM must have diagnostic data logging capability

CR10 1 APM will have a display which will show it's location on a map, as well as diagnostic information

CR11 9 APM destination must be input via Secure Shell Protocol (SSH) or remote desktop to the onboard PC

CR12 9

APM must perform an emergency stop when a passenger hits the emergency stop button, or when the remote

control device activates the emergency stop

CR13 9 APM must have a way to switch between manual, remote, and autonomous modes

CR14 9 APM must have a waterproof enclosure to protect computer and other electronics

CR15 9 APM must have clear and accurate documentation on all aspects of cart along with their theoretical operations

CR16 9 APM must have videos consisting of explanations of various subsystems

CR17 9 APM must have schematics and wiring diagrams for all electrical modifications made to cart

CR18 9 APM must have drawings of all mechanical modifications made to cart over the different phases

Engineering Requirements

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Rqmt. #

F

u

n

Engr. Requirement (metric)Unit of

Measure

Minimum

Value

Target

Value

Customer

RequirementComments/Status

S1 Driving Modes (Manual, RC, Autonomous) Pass / Fail 1, 2, 13

S2 Steering Control Precision Degrees ± 2 ± 1 1, 3, 4

S3 Steering Position Encoding Degrees ± 2 ± 1 1, 3, 4, 7, 8 Governs steering accuracy through feedback

S4 Speed Control Precision MPH ± 1 ± 0.5 1, 2, 3, 4, 5, 6, 7, 12

S5 Speed Encoding MPH ± 1 ± 0.5 1, 3, 4, 5, 6, 7, 12 Governs speed accuracy through feedback

S6 Maximum Speed MPH 3 5 2, 3

S7 GPS Positioning Meters ± 5 ± 0.25 1, 6, 8, 10 Governs deviation between planned and actual course

S8 Course: Arrive at planned destination Meters ± 5 ± 2.5 1, 2, 3, 4, 5, 8 Cart will stop within stated radius from destination

S9 Course: Stop when moving obstacle moves in way Pass / Fail 1, 2, 5, 6, 7 More research needed to get more specific about size, speed, and distance

S10 Detection of Light Reflecting 10" x 10" Objects Within 3 Meters Percentage ± 1 100 1, 6, 7 180 degrees in front of car, 15 degrees vertical

S11 Detection of Sound Reflecting 1' x 1' Objects Within 1 Meter Percentage ± 1 100 1, 6, 7 180 degrees in front of car, 15 degrees vertical

S12 Minimum Stopping Distance (from top speed without hitting obstacle) Meters 5 3 1, 3, 5, 7 2.9 m/s^2 (0.30 G) & 4.8m/s^2 (0.49 G) average acceleration, respectively

S13 SSH Interface with onboard PC Pass / Fail 9, 11

S14 Waterproof Enclosure for Electronics IPX- IPX3 IPX4 14 Will protect from splashing water from any direction

S15

Subsystem videos must be short and informative on how each subsytem

works Minutes 3 5 16

S16

Mechanical drawings must be able to be given to machinists with the

ability to reproduce the part with nothing other than the drawing Pass / Fail 18

Machine shop employees should be able to reproduce the part without any

questions asked

Solid Models•LiDAR Mounting

•Ultrasonics Study & Mounting

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LiDAR Mount Design• Inclination angle adjustable in 5 degree increments

• Aluminum construction

• LiDAR removable without tools

• Options to add lock and shroud for sensor

• Estimated Cost: $49.02 excluding nuts and screws

• See drawing for detailed information

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Ultrasonics Mounting Study

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Ultrasonics Mounting• 5 sonar sensors

• 2-3 existing MB7001’s

• 3-2 new MB7040’s

•Maxbotix MB7040: $99.95 each

• PVC Needed:

• 3’ x ¾” SCH40 Pipe

• 5 x Tee fittings

• 2 x 90” Elbows

• 2 x 22.5” Elbows

• Estimated Cost: $10.05

• See drawings for detailed information

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Ultrasonics Mounting Summary• 5 sonar sensors

• Possible addition of shorter range sensors

• Adjustable LiDAR mount

•Total Cost: $358.92 (3 new sonars and mounts)

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Future Mounting Tasks• Stereo cameras

• Re-mounting of brake actuator to resolve interference

• Fully securing electronics enclosure

•Weatherproofing

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Emergency Stop: Electrical

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Emergency Stop: Electrical

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Throttle Stock Mode Override

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Steering Control• Steering System Issues• Requires 5V signal

• High pitch whining if driven by PWM

• Current design uses 2 DAC’s for different steering signal

• Current design uses additional DAC for a reference voltage

• There are only 2 DACs per Arduino Due

•Possible Solutions• Switch to Arduino Megas

• Improve level shifting circuit

•Benefits of improving the leveling shifting circuit• Uses a DAC and not PWM

• Requires a single DAC instead of 3

• Requires 1 Arduino instead of 2

• PCB needs to be improved anyways

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Proposed Steering Control Improvement• Split output and use Op Amps to scale voltages

• Voltage subtractor and non-inverting configurations

• Converts a single output from 0-3.3 V to a differential output from 0-5 V

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One Arduino Layout: Inputs/Outputs

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Vehicle Simulation Update• Algorithm proceeds to next waypoint once cart location is within a specified proximity of current waypoint

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High-Level Software Block Diagram

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Mode Control Diagram

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Purchasing Plan

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Starting Budget $500.00

Budget Remaining $227.87

Vendor Description APM Relationship Part No Quantity

Date

Purchased Date Recieved Amount

Amazon GPS module GPS 1 22-Oct 28-Oct $35.00

Amazon GPS antenna GPS 1 22-Oct 28-Oct $9.50

OSH Park GPS PCB GPS 3 30-Nov $11.90

Automation Direct

PWR RELAY 40A DPDT 12VDC

COIL OPEN STYLE PANEL

MOUNT Emergency Stop

AD-PR40-2C-

12D 1 $19.25

McMaster Carr

Plate / 5" Sqaure x 3/16" Thk. x

1/2" Tube LiDAR Mount 1 $21.30

N/A Vertical / Scrap (from Plate) LiDAR Mount 2 $0.00

N/A Bracket / Scrap (from Plate) LiDAR Mount 2 $0.00

McMaster Carr

5/32" Pins / 5/32" x 1/2" 316 SS

Dowel Pins (Pack of 5) LiDAR Mount 2 $8.00

McMaster Carr

Thumb Screw / 1/4-20 x 3/8"

Plastic Rosette Head Thumb

Screws (Pk of 10) LiDAR Mount 1 $10.38

Ultrasonics PVC piping and

joints Ultrasonics Mount $10.04

Maxbotix MB7040 Ultrasonics 2 - 3 $299.85

MSD Phase II's Remaining Budget ----- ----- ----- 1/25/2016 $153.09

Purchasing Plan

Risk Assessment

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1-3

4-26

27-81

Key

Low Ranked Risks

Medium Ranked Risks

High Ranked Risks

ID Category Risk Item Likelihood Severity Importance

1 Not enough bandwidth to send all sensor information 1 3 3

2 Control code error 1 9 9

3 Not high enough resolution from sensors 1 3 3

4 Unable to determine current location 3 1 3

5 Sensor failure 1 9 9

6 Sensor false reading 3 9 27

7 Mechanical failure 1 9 9

8 Electrical failure 1 9 9

9 Power loss 1 9 9

10 Integration trouble with steering and obstacle avoidance 1 3 3

11 LiDAR does not integrate well with other systems 1 1 1

12 PCB shorts out 1 9 9

13 Touch screen loses input 1 3 3

14 Touch screen stops displaying information 1 3 3

15 GPS getting incorrect signal 1 9 9

16 Erradict object can't be identified 1 9 9

17 Control electronics overheat 3 9 27

18 One of the three ultrasonics is unusable 9 3 27

19 One of the arduinos blows while testing 3 3 9

20 Not enough waypoints to reach user destination 3 1 3

21 Need to buy additional sensors for all automation tasks 3 1 3

22 Phase 2 does not meet all of their requirements 3 9 27

23 Space for testing on campus is not available 3 3 9

24 Not having enough time to learn from Phase II 3 3 9

25 Team loses a CE/programmer 1 9 9

26 Team does not have enough budget to purchase a new GPS 1 3 3

27 Team does not have enough resources to complete all software aspects 3 9 27

28 Don't get redesigned main PCB back from D3 by set date 9 3 27

29 Phase 2 does not complete all schematics for APM 9 1 9

30 Enclosure costs more than budget 3 3 9

Technical

Resource

MSD II Preliminary Schedule

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MSD II Preliminary Schedule

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MSD II Preliminary Schedule

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MSD II Preliminary Schedule

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Questions & Feedback