Earl Grey
and
The Boston Tea Party
Present
The Entourage
Slide 1
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Speaker Name
Team Members
Casey Gold
Ellen Prommersberger
Nathan Winder
Steven Anderson
Tom Monikowski
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Slide 2
Speaker Name
Ellen
Purpose
Ease tedium
of stop-andgo traffic
Improve
safety of
rush hour
driving
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Slide 3
Speaker Name
Ellen
Objectives
Use sensors to determine position
of car relative to other vehicles
Control acceleration and breaking
based on distance away from
leading vehicle
Control steering to follow lead car
Demonstrate concept on RC
vehicle
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Slide 4
Speaker Name
Ellen
Concept
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Slide 5
Speaker Name
Ellen
Turning the Car
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Slide 6
Speaker Name
Ellen
System Overview
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Slide 7
Speaker Name
Casey
System
Architecture
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Slide 8
Speaker Name
Casey
M68HC11E Microcontroller
 Availability
 Features
•Built in RAM and ROM
•Serial communications
interface (SCI)
•Synchronous serial
peripheral interface (SPI)
•8-channel, 8-bit analogto-digital (A/D) converter
•Plenty of I/O
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Slide 9
Speaker Name
Casey
Sensors
Ultrasonic
Range:
1’ 10”– 50’
Accuracy: 99.5%
Beam width: 5°
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Slide 10 Speaker Name
Tom
RC Car Interface
Steering
•Incremental adjustment system
•D/A circuitry
Speed Control
•Maintain following distance relative to speed
•Constantly monitor speed of vehicle
Manual Override
•Disengages with driver input
•ENGAGE/DISENGAGE button
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Slide 11 Speaker Name
Tom
User Warning Output
Status light on electronics box
•Green LED
Status light on RC car
•Blue LED
Warning light on RC car
•Yellow LED
Audio warning on RC car
•Audio circuit
•Amplifier
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Slide 12 Speaker Name
Tom
Software
Accept values from sensors
•Interpret as distances or hits/misses
Conditionally determine the course of
action
•Speed and turning
Handle user warnings
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Slide 13 Speaker Name
Tom
Power System
Battery power
•Sensors
•System
•RC car
Choppers
•Step up/Step down
•Ensure proper voltages and currents
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Slide 14 Speaker Name
Steve
Schedule
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Slide 15 Speaker Name
Steve
Division of Labor
Casey – FPGA/Processor Setup,
Programming
Ellen – Controls, Sensors, Quality
Control
Nathan – Controls, Sensors,
Construction
Steven – Power, Construction, Circuit
Design
Tom – Math, Power, Programming
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Slide 16 Speaker Name
Steve
Risks and
Contingency Plan
RISKS
 Sensors
•May not work as
anticipated
 Steering
 RC car operation
 Reaction speed
•Signal processing
•Software/Hardware
interaction
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Slide 17 Speaker Name
Nathan
CONTINGENCY PLAN
 Sensors
•Add focusing beam
deflector
 Steering
•Manual override of
steering in difficult
situations
 RC car operation
•Modify car
 Reaction speed
•Use fewer sensors
•More efficient code
Materials
 RC Escalades (2)
 CPU
 FPGA
 Ultrasonic Sensors (7)
 RAM
 Flash ROM
 Prototyping materials
 Battery
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Slide 18 Speaker Name
Nathan
Possible Additions
Extra sensors
NOS
•Wet or dry shot?
Programming for
highway driving
(higher speeds)
Five 10” LCD
screens
More accurate
sensing for
nonstandard
vehicles
Streetglow
•Blue
•Blinking?
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Slide 19 Speaker Name
Nathan