1. Project Squeaky Wheel Team Autobots Customer Continental Automotive David Agnew, Jeremy McClain Fall 2011

2. Project Overview Steer-by-wire replaces the traditional steering system with an electronic one Motivation ‒To remove the mechanical system from the vehicle, reducing power consumption ‒To provide more responsive steering ‒Car Design improvements ‒A possible future with complete autonomy

3. Domain Research Steer-by-wire is a very new technology Most material available is from research projects Not used in personal transportation vehicles yet Primary use currently is in industrial equipment (forklifts, some agricultural vehicles)

4. Overview of Features Basic look at steer by wire control Simple control loop using PID to ensure proper control Requested Angle Current Wheel Angle PID Torque Request New Wheel Angle

5. Project Constraints The system is only active in the speed range of -10 to 20 miles per hour System must recalculate values every 500µs The assisted torque is always within the range of +10 to -10 Nm.

6. Model-based View of System Contains the following diagrams Use Case Class Sequence State

7. Use Case Diagram

8. Class Diagram

9. Sequence Diagram

10. State Diagram

11. Prototype Overview

12. Demonstration – Scenario 1 Speed: -5 mph Steering Wheel Adjustment : Left

13. Demonstration – Scenario 2 Speed: 0 mph Steering Wheel Adjustment : Left

14. Demonstration – Scenario 3 Speed: 20 mph Steering Wheel Adjustment : Right

15. Questions?