1. 1 Autonomously Controlled Vehicles with Collision Avoidance Mike Gregoire Rob Beauchamp Dan Holcomb Tim Brett

2. 2 Motivation Simulated Highway Driving Environment Collision Avoidance  Eliminate Rear End and Merging Accidents Autonomous Not Centralized  Centralized System Not Practical for Today's Highways Predictable Vehicle Behavior  First Car Moves, Others Follow

3. 3 Challenges Sensing of Other Vehicles  Distance Away  Angle Control Algorithms  Take Location Information and Direct Vehicle to Follow or Avoid Platform  Big Enough to Carry Electronics  Interface to Steering and Drive Motor

4. 4 Overview Deliverables System Block Diagram  Sensor  Controller  Platform Simulation Operating Restrictions Costs MDR Deliverables

5. 5 Deliverables Three to Five Vehicles  Sensor System  Control Rules for Operation  One User Controlled Platform Schematic and Circuit Diagram Simulation Demonstration  Vehicles Follow Along A Straight Path and Through Turns  Does Not Confuse With Objects Its Not Meant To Follow

6. 6 System Block Diagram

7. 7 Sensor Sonar  Time Based Measurements  More Complicated Hardware  Best Resolution for Price Optical/IR  Intensity Measurement  Processor Intensive  Granular Resolution Chose Sonar

8. 8 Control Logic Timers for Each Receiver Distance and Direction Calculated from 2 or More Receiver Timers Follow One Object Using Continuity  Limit Interference From Noisy Sensor Data  Know Where the Lead Vehicle Has Been  Know Where the Lead Vehicle Could Possibly Be Now Send Vehicle Instructions to Continue to Follow

9. 9 Platform Cars vs. Robot  Cars Add Realism to Highway Situation  Robots Easier To Control Using Cars  Limited Size and Power  Directly Interface to Motor and Steering Actuator

10. 10 Simulation Test and Debug Interaction of Multiple Vehicles Assume Exact Sensor Data Control of Simulated Lead Vehicle and Observe Autonomous Followers Quickly Test Many Scenarios

11. 11 Operating Restrictions Sensor System Limits Environment  Low Noise and Few Reflections Speed Limited by Sensor Refresh Rate  Speed/Car Length = Min Refresh Rate  6 Inch Cars @ 10 MPH = 29.3 Hz  30 Hz Refresh Rate = 18.8 ft Max Sensor Range Initial Conditions Assumes Lead Car is Traveling a Clear Path

12. 12 Product Costs $500 Total Budget 4 Vehicles - $125 Each Budget  Sensor - $50 Homemade $20 Bought$40  Platform - $50 Fixed  Control - $25 PIC$8 Motor/Actuator Interface$10

13. 13 MDR Deliverables A Sensor System That Can Continuously Track One Object Control of Vehicle with Embedded Controller Simulation (Control Rules) Spring ’05  Implement Refined Control Rules  Sensor Able to Distinguish between Multiple Objects  Demonstration

14. 14 Thank You Questions?