The CarBot Project Group Members: Chikaod Anyikire, Odi Agenmonmen, Robert Booth, Michael Smith, Reavis Somerville ECE 4006 November 29 th 2005

2 Presentation Outline Project Overview Project Overview Management Plan Management Plan Four core tasks Four core tasks Cost Analysis Cost Analysis Market Analysis Market Analysis Conclusion Conclusion

3 Project Overview Objective: To develop an autonomous vehicle that travels from point A to B Objective: To develop an autonomous vehicle that travels from point A to B Features of an autonomous vehicle Features of an autonomous vehicle Detect and react to traffic lights Detect and react to traffic lights Change lanes to maneuver around obstacles Change lanes to maneuver around obstacles This project will pave the way for significant advancements in transportation and provide a service that will revolutionize the way people travel. This project will pave the way for significant advancements in transportation and provide a service that will revolutionize the way people travel.

4 Management Plan The management plan consisted of three phases. The management plan consisted of three phases. Planning and Strategy Planning and Strategy Four Core Tasks Four Core Tasks Traffic Light Traffic Light Cmucam Cmucam Robot Integration Robot Integration Robot Coding Robot Coding Final Testing Final Testing

5 Planning and Strategy Implement a small scale simulation of a autonomous vehicle Implement a small scale simulation of a autonomous vehicle Preliminary Design Decisions Preliminary Design Decisions What robot to use as a vehicle? What robot to use as a vehicle? Mekatronics Talrik II Mekatronics Talrik II What camera to use for detections? What camera to use for detections? CMUcam v1.0 vs. CMUcam v2.0 CMUcam v1.0 vs. CMUcam v2.0

6 Traffic Light Implementation LIGHT BULB LED COLOR PRODUCED White Light True Color at specified wavelength POWER CONSUMPTION 20Watts/Bulb 1 Watts/LED REQUIRED VOLTAGE 12 Volts 3-5 Volts LUMINOUS INTENSITY 1700 mcd 6000 mcd COST$1/BULB 2 cents/LED Determine the best traffic light solution (Bulb vs. LED) Determine the best traffic light solution (Bulb vs. LED)

7 LED Versus Bulb (cont.) LED was the obvious winner in all facets of our requirements. LED was the obvious winner in all facets of our requirements.

8 Traffic Light Circuit

9 CMUCam Track the position and size of a colorful or bright object Track the position and size of a colorful or bright object Measure the RGB statistics of an image region Measure the RGB statistics of an image region Automatically acquire and track the first object it sees Automatically acquire and track the first object it sees On-board real-time vision processing On-board real-time vision processing RS232 interface RS232 interface RX – Receive RX – Receive TX - Transmit TX - Transmit

10 Camara Integration Motorola 68HC11 Motorola 68HC11 Serial Peripheral Interface (SPI) Serial Peripheral Interface (SPI) Devices communicate using a master/slave relationship Devices communicate using a master/slave relationship Synchronous serial data link that operates in full duplex Synchronous serial data link that operates in full duplex MOSI – Master Out Slave In MOSI – Master Out Slave In MISO – Master In Slave Out MISO – Master In Slave Out CLK – Clock CLK – Clock CMUcam is a SX28 microcontroller CMUcam is a SX28 microcontroller Interfaced with a OV6620 Omnivision CMOS camera Interfaced with a OV6620 Omnivision CMOS camera Serial Port Serial Port Pin 2 – PC Receive/Scenix Transmit Pin 2 – PC Receive/Scenix Transmit Pin 3 – Scenix Receive/PC Transmit Pin 3 – Scenix Receive/PC Transmit Pin 5 – Ground Pin 5 – Ground

11 CMUcam Implementation External Circuit Solution External Circuit Solution Max3100 to convert the SPI signals to rs232 signals Max3100 to convert the SPI signals to rs232 signals Oscillator to ensure that both the interfaces are operating at the same frequency Oscillator to ensure that both the interfaces are operating at the same frequency Software Setup Solution Software Setup Solution C code needed for the microcontroller to communicate with CMUcam C code needed for the microcontroller to communicate with CMUcam Sets up timing parameters (i.e. baud rate: 9600), etc. Sets up timing parameters (i.e. baud rate: 9600), etc. Interprets the data from the camera to control robot movement Interprets the data from the camera to control robot movement

12 Robot Integration 3 IR detectors 3 IR detectors 6 IR LEDS 6 IR LEDS ICC Programming environment ICC Programming environment SPI interfaces with camera SPI interfaces with camera Left/Right Motor Left/Right Motor

13 Stay Straight Algorithm Design Problem: several robot movement problems Design Problem: several robot movement problems Solution: error algorithm to prevent robot from pulling left or right Solution: error algorithm to prevent robot from pulling left or right

14 Change Lanes

15 Traffic Light Detection The cmucam will constantly alternate being tracking colors yellow, red, and green. The cmucam will constantly alternate being tracking colors yellow, red, and green. Several cases that the robot will encounter Several cases that the robot will encounter YellowRedGreenAction Go  Stop  Track Red / Green  Stop Go

16 Final Testing Creating a course to test the autonomous robot Creating a course to test the autonomous robot Finalizing integration of camera and microcontroller Finalizing integration of camera and microcontroller Debugging problems in robot movement algorithms Debugging problems in robot movement algorithms

17 Cost Analysis Estimated costs of car camera system 1/8 size Estimated costs of car camera system 1/8 size Total non-recurring cost of $980,000 Total non-recurring cost of $980,000 R&D will be the significant portion of initial costs estimated to be $700,000 R&D will be the significant portion of initial costs estimated to be $700,000 The return on this investment will be substantial when a working model is produced. The return on this investment will be substantial when a working model is produced. The initial investment in this technology will be large because the system has to be reliable, safe, and cost effective. The initial investment in this technology will be large because the system has to be reliable, safe, and cost effective. This is an unique technology, and it is difficult to estimate the initial market demand. This is an unique technology, and it is difficult to estimate the initial market demand.

18 Market Analysis This product has the potential to revolutionize the way people travel This product has the potential to revolutionize the way people travel Several cases where automated driving could prevent an impaired driver from operating a vehicle Several cases where automated driving could prevent an impaired driver from operating a vehicle This is a unique product, and being able to introduce it into the automotive industry first will lead to huge technological advantage over possible competitors, and large revenue over time This is a unique product, and being able to introduce it into the automotive industry first will lead to huge technological advantage over possible competitors, and large revenue over time

19 Real World Applications Pedestrian detection Pedestrian detection Lane following Lane following “Blind spot” detection “Blind spot” detection Parking aids Parking aids The Handicapped The Handicapped Driver assistance – will be interchangeable with the user Driver assistance – will be interchangeable with the user Military Military

20 Questions Are there any questions?