Detailed Design Review

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1 Detailed Design Review P16241 AUTONOMOUS PEOPLE MOVER PHASE III

2 Team 2

3 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 3

4 Background Rochester 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. 4

5 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 5

6 Project Scope Phase 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 6

7 Customer Requirements Key Required functionality for completion Highly recommended functionality Preferred functionality 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 7

8 Engineering Requirements Rqmt. # F u n Engr. Requirement (metric) Unit of Measure Minimum Value Target Value Customer Requirement Comments/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 ± , 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 ± , 6, degrees in front of car, 15 degrees vertical S11 Detection of Sound Reflecting 1' x 1' Objects Within 1 Meter Percentage ± , 6, degrees in front of car, 15 degrees vertical S12 Minimum Stopping Distance (from top speed without hitting obstacle) Meters 5 3 1, 3, 5, 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 S16 Subsystem videos must be short and informative on how each subsytem works Minutes 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 8

9 Solid Models LiDAR Mounting Ultrasonics Study & Mounting 9

Options to add lock and shroud for sensor Estimated Cost: $49.

10 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 10

11 Ultrasonics Mounting Study 11

12 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 12

13 Ultrasonics Mounting Summary 5 sonar sensors Possible addition of shorter range sensors Adjustable LiDAR mount Total Cost: $ (3 new sonars and mounts) 13

14 Future Mounting Tasks Stereo cameras Re-mounting of brake actuator to resolve interference Fully securing electronics enclosure Weatherproofing 14

15 Emergency Stop: Electrical 15

16 Emergency Stop: Electrical 16

17 Throttle Stock Mode Override 17

18 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 18

19 Proposed Steering Control Improvement Split output and use Op Amps to scale voltages Voltage subtractor and non-inverting configurations Converts a single output from V to a differential output from 0-5 V 19

20 One Arduino Layout: Inputs/Outputs 20

21 Vehicle Simulation Update Algorithm proceeds to next waypoint once cart location is within a specified proximity of current waypoint 21

22 High-Level Software Block Diagram 22

23 23

24 Mode Control Diagram 24

25 Purchasing Plan Purchasing Plan Vendor Description APM Relationship Part No Quantity Starting Budget $ Budget Remaining $ 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 McMaster Carr PWR RELAY 40A DPDT 12VDC COIL OPEN STYLE PANEL MOUNT Emergency Stop AD-PR40-2C- 12D 1 $19.25 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 McMaster Carr 5/32" Pins / 5/32" x 1/2" 316 SS Dowel Pins (Pack of 5) LiDAR Mount 2 $8.00 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 $ MSD Phase II's Remaining Budget /25/2016 $

26 Risk Assessment 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 Control code error Not high enough resolution from sensors Unable to determine current location Sensor failure Sensor false reading Mechanical failure Electrical failure Power loss Integration trouble with steering and obstacle avoidance Technical 11 LiDAR does not integrate well with other systems PCB shorts out Touch screen loses input Touch screen stops displaying information GPS getting incorrect signal Erradict object can't be identified Control electronics overheat One of the three ultrasonics is unusable One of the arduinos blows while testing Not enough waypoints to reach user destination Need to buy additional sensors for all automation tasks Phase 2 does not meet all of their requirements Space for testing on campus is not available Not having enough time to learn from Phase II Resource Team loses a CE/programmer Team does not have enough budget to purchase a new GPS Team does not have enough resources to complete all software aspects Don't get redesigned main PCB back from D3 by set date Phase 2 does not complete all schematics for APM Enclosure costs more than budget

27 MSD II Preliminary Schedule 27

28 MSD II Preliminary Schedule 28

29 MSD II Preliminary Schedule V C V C V CV CV CV C V C V 29

30 MSD II Preliminary Schedule 30

31 Questions & Feedback

Problem Definition Review

Problem Definition Review P16241 AUTONOMOUS PEOPLE MOVER PHASE III Team Agenda Background Problem Statement Stakeholders Use Scenario Customer Requirements Engineering Requirements Preliminary Schedule